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SITL: make parsing of json files dependent on PICOJSON 

picojson uses the standard library; this will be a problem on embedded
platforms
This commit is contained in:
Peter Barker 2021-10-11 16:07:31 +11:00 committed by Peter Barker
parent 4896f8a6d7
commit 3cf7091525
1 changed files with 7 additions and 0 deletions
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7
libraries/SITL/SIM_Frame.cpp
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@ -23,7 +23,10 @@
#include <stdio.h>
#include <sys/stat.h>
#define USE_PICOJSON (CONFIG_HAL_BOARD == HAL_BOARD_SITL)
#if USE_PICOJSON
#include "picojson.h"
#endif
using namespace SITL;
@ -322,6 +325,7 @@ float Frame::get_air_density(float alt_amsl) const
return air_pressure / (ISA_GAS_CONSTANT * (C_TO_KELVIN(model.refTempC)));
}
#if USE_PICOJSON
/*
load frame specific parameters from a json file if available
*/
@ -418,6 +422,7 @@ void Frame::load_frame_params(const char *model_json)
::printf("Loaded model params from %s\n", model_json);
}
#endif
/*
initialise the frame
@ -427,11 +432,13 @@ void Frame::init(const char *frame_str, Battery *_battery)
model = default_model;
battery = _battery;
#if USE_PICOJSON
const char *colon = strchr(frame_str, ':');
size_t slen = strlen(frame_str);
if (colon != nullptr && slen > 5 && strcmp(&frame_str[slen-5], ".json") == 0) {
load_frame_params(colon+1);
}
#endif
mass = model.mass;
const float drag_force = model.mass * GRAVITY_MSS * tanf(radians(model.refAngle));