/** @file * @brief MAVLink comm protocol testsuite generated from ardupilotmega.xml * @see http://qgroundcontrol.org/mavlink/ */ #ifndef ARDUPILOTMEGA_TESTSUITE_H #define ARDUPILOTMEGA_TESTSUITE_H #ifdef __cplusplus extern "C" { #endif #ifndef MAVLINK_TEST_ALL #define MAVLINK_TEST_ALL static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg); static void mavlink_test_ardupilotmega(uint8_t, uint8_t, mavlink_message_t *last_msg); static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) { mavlink_test_common(system_id, component_id, last_msg); mavlink_test_ardupilotmega(system_id, component_id, last_msg); } #endif #include "../common/testsuite.h" static void mavlink_test_sensor_offsets(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) { mavlink_message_t msg; uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; uint16_t i; mavlink_sensor_offsets_t packet_in = { 17.0, 963497672, 963497880, 101.0, 129.0, 157.0, 185.0, 213.0, 241.0, 19107, 19211, 19315, }; mavlink_sensor_offsets_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); packet1.mag_declination = packet_in.mag_declination; packet1.raw_press = packet_in.raw_press; packet1.raw_temp = packet_in.raw_temp; packet1.gyro_cal_x = packet_in.gyro_cal_x; packet1.gyro_cal_y = packet_in.gyro_cal_y; packet1.gyro_cal_z = packet_in.gyro_cal_z; packet1.accel_cal_x = packet_in.accel_cal_x; packet1.accel_cal_y = packet_in.accel_cal_y; packet1.accel_cal_z = packet_in.accel_cal_z; packet1.mag_ofs_x = packet_in.mag_ofs_x; packet1.mag_ofs_y = packet_in.mag_ofs_y; packet1.mag_ofs_z = packet_in.mag_ofs_z; memset(&packet2, 0, sizeof(packet2)); mavlink_msg_sensor_offsets_encode(system_id, component_id, &msg, &packet1); mavlink_msg_sensor_offsets_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_sensor_offsets_pack(system_id, component_id, &msg , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z ); mavlink_msg_sensor_offsets_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_sensor_offsets_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z ); mavlink_msg_sensor_offsets_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_to_send_buffer(buffer, &msg); for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { comm_send_ch(MAVLINK_COMM_0, buffer[i]); } mavlink_msg_sensor_offsets_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_sensor_offsets_send(MAVLINK_COMM_1 , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z ); mavlink_msg_sensor_offsets_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } static void mavlink_test_set_mag_offsets(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) { mavlink_message_t msg; uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; uint16_t i; mavlink_set_mag_offsets_t packet_in = { 17235, 17339, 17443, 151, 218, }; mavlink_set_mag_offsets_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); packet1.mag_ofs_x = packet_in.mag_ofs_x; packet1.mag_ofs_y = packet_in.mag_ofs_y; packet1.mag_ofs_z = packet_in.mag_ofs_z; packet1.target_system = packet_in.target_system; packet1.target_component = packet_in.target_component; memset(&packet2, 0, sizeof(packet2)); mavlink_msg_set_mag_offsets_encode(system_id, component_id, &msg, &packet1); mavlink_msg_set_mag_offsets_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_set_mag_offsets_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z ); mavlink_msg_set_mag_offsets_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_set_mag_offsets_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z ); mavlink_msg_set_mag_offsets_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_to_send_buffer(buffer, &msg); for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { comm_send_ch(MAVLINK_COMM_0, buffer[i]); } mavlink_msg_set_mag_offsets_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_set_mag_offsets_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z ); mavlink_msg_set_mag_offsets_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } static void mavlink_test_meminfo(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) { mavlink_message_t msg; uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; uint16_t i; mavlink_meminfo_t packet_in = { 17235, 17339, }; mavlink_meminfo_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); packet1.brkval = packet_in.brkval; packet1.freemem = packet_in.freemem; memset(&packet2, 0, sizeof(packet2)); mavlink_msg_meminfo_encode(system_id, component_id, &msg, &packet1); mavlink_msg_meminfo_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_meminfo_pack(system_id, component_id, &msg , packet1.brkval , packet1.freemem ); mavlink_msg_meminfo_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_meminfo_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.brkval , packet1.freemem ); mavlink_msg_meminfo_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_to_send_buffer(buffer, &msg); for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { comm_send_ch(MAVLINK_COMM_0, buffer[i]); } mavlink_msg_meminfo_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_meminfo_send(MAVLINK_COMM_1 , packet1.brkval , packet1.freemem ); mavlink_msg_meminfo_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } static void mavlink_test_ap_adc(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) { mavlink_message_t msg; uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; uint16_t i; mavlink_ap_adc_t packet_in = { 17235, 17339, 17443, 17547, 17651, 17755, }; mavlink_ap_adc_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); packet1.adc1 = packet_in.adc1; packet1.adc2 = packet_in.adc2; packet1.adc3 = packet_in.adc3; packet1.adc4 = packet_in.adc4; packet1.adc5 = packet_in.adc5; packet1.adc6 = packet_in.adc6; memset(&packet2, 0, sizeof(packet2)); mavlink_msg_ap_adc_encode(system_id, component_id, &msg, &packet1); mavlink_msg_ap_adc_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_ap_adc_pack(system_id, component_id, &msg , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 ); mavlink_msg_ap_adc_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_ap_adc_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 ); mavlink_msg_ap_adc_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_to_send_buffer(buffer, &msg); for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { comm_send_ch(MAVLINK_COMM_0, buffer[i]); } mavlink_msg_ap_adc_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_ap_adc_send(MAVLINK_COMM_1 , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 ); mavlink_msg_ap_adc_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } static void mavlink_test_digicam_configure(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) { mavlink_message_t msg; uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; uint16_t i; mavlink_digicam_configure_t packet_in = { 17.0, 17443, 151, 218, 29, 96, 163, 230, 41, 108, 175, }; mavlink_digicam_configure_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); packet1.extra_value = packet_in.extra_value; packet1.shutter_speed = packet_in.shutter_speed; packet1.target_system = packet_in.target_system; packet1.target_component = packet_in.target_component; packet1.mode = packet_in.mode; packet1.aperture = packet_in.aperture; packet1.iso = packet_in.iso; packet1.exposure_type = packet_in.exposure_type; packet1.command_id = packet_in.command_id; packet1.engine_cut_off = packet_in.engine_cut_off; packet1.extra_param = packet_in.extra_param; memset(&packet2, 0, sizeof(packet2)); mavlink_msg_digicam_configure_encode(system_id, component_id, &msg, &packet1); mavlink_msg_digicam_configure_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_digicam_configure_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.mode , packet1.shutter_speed , packet1.aperture , packet1.iso , packet1.exposure_type , packet1.command_id , packet1.engine_cut_off , packet1.extra_param , packet1.extra_value ); mavlink_msg_digicam_configure_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_digicam_configure_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.mode , packet1.shutter_speed , packet1.aperture , packet1.iso , packet1.exposure_type , packet1.command_id , packet1.engine_cut_off , packet1.extra_param , packet1.extra_value ); mavlink_msg_digicam_configure_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_to_send_buffer(buffer, &msg); for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { comm_send_ch(MAVLINK_COMM_0, buffer[i]); } mavlink_msg_digicam_configure_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_digicam_configure_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.mode , packet1.shutter_speed , packet1.aperture , packet1.iso , packet1.exposure_type , packet1.command_id , packet1.engine_cut_off , packet1.extra_param , packet1.extra_value ); mavlink_msg_digicam_configure_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } static void mavlink_test_digicam_control(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) { mavlink_message_t msg; uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; uint16_t i; mavlink_digicam_control_t packet_in = { 17.0, 17, 84, 151, 218, 29, 96, 163, 230, 41, }; mavlink_digicam_control_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); packet1.extra_value = packet_in.extra_value; packet1.target_system = packet_in.target_system; packet1.target_component = packet_in.target_component; packet1.session = packet_in.session; packet1.zoom_pos = packet_in.zoom_pos; packet1.zoom_step = packet_in.zoom_step; packet1.focus_lock = packet_in.focus_lock; packet1.shot = packet_in.shot; packet1.command_id = packet_in.command_id; packet1.extra_param = packet_in.extra_param; memset(&packet2, 0, sizeof(packet2)); mavlink_msg_digicam_control_encode(system_id, component_id, &msg, &packet1); mavlink_msg_digicam_control_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_digicam_control_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.session , packet1.zoom_pos , packet1.zoom_step , packet1.focus_lock , packet1.shot , packet1.command_id , packet1.extra_param , packet1.extra_value ); mavlink_msg_digicam_control_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_digicam_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.session , packet1.zoom_pos , packet1.zoom_step , packet1.focus_lock , packet1.shot , packet1.command_id , packet1.extra_param , packet1.extra_value ); mavlink_msg_digicam_control_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_to_send_buffer(buffer, &msg); for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { comm_send_ch(MAVLINK_COMM_0, buffer[i]); } mavlink_msg_digicam_control_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_digicam_control_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.session , packet1.zoom_pos , packet1.zoom_step , packet1.focus_lock , packet1.shot , packet1.command_id , packet1.extra_param , packet1.extra_value ); mavlink_msg_digicam_control_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } static void mavlink_test_mount_configure(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) { mavlink_message_t msg; uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; uint16_t i; mavlink_mount_configure_t packet_in = { 5, 72, 139, 206, 17, 84, }; mavlink_mount_configure_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); packet1.target_system = packet_in.target_system; packet1.target_component = packet_in.target_component; packet1.mount_mode = packet_in.mount_mode; packet1.stab_roll = packet_in.stab_roll; packet1.stab_pitch = packet_in.stab_pitch; packet1.stab_yaw = packet_in.stab_yaw; memset(&packet2, 0, sizeof(packet2)); mavlink_msg_mount_configure_encode(system_id, component_id, &msg, &packet1); mavlink_msg_mount_configure_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_mount_configure_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.mount_mode , packet1.stab_roll , packet1.stab_pitch , packet1.stab_yaw ); mavlink_msg_mount_configure_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_mount_configure_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.mount_mode , packet1.stab_roll , packet1.stab_pitch , packet1.stab_yaw ); mavlink_msg_mount_configure_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_to_send_buffer(buffer, &msg); for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { comm_send_ch(MAVLINK_COMM_0, buffer[i]); } mavlink_msg_mount_configure_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_mount_configure_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.mount_mode , packet1.stab_roll , packet1.stab_pitch , packet1.stab_yaw ); mavlink_msg_mount_configure_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } static void mavlink_test_mount_control(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) { mavlink_message_t msg; uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; uint16_t i; mavlink_mount_control_t packet_in = { 963497464, 963497672, 963497880, 41, 108, 175, }; mavlink_mount_control_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); packet1.input_a = packet_in.input_a; packet1.input_b = packet_in.input_b; packet1.input_c = packet_in.input_c; packet1.target_system = packet_in.target_system; packet1.target_component = packet_in.target_component; packet1.save_position = packet_in.save_position; memset(&packet2, 0, sizeof(packet2)); mavlink_msg_mount_control_encode(system_id, component_id, &msg, &packet1); mavlink_msg_mount_control_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_mount_control_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.input_a , packet1.input_b , packet1.input_c , packet1.save_position ); mavlink_msg_mount_control_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_mount_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.input_a , packet1.input_b , packet1.input_c , packet1.save_position ); mavlink_msg_mount_control_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_to_send_buffer(buffer, &msg); for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { comm_send_ch(MAVLINK_COMM_0, buffer[i]); } mavlink_msg_mount_control_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_mount_control_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.input_a , packet1.input_b , packet1.input_c , packet1.save_position ); mavlink_msg_mount_control_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } static void mavlink_test_mount_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) { mavlink_message_t msg; uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; uint16_t i; mavlink_mount_status_t packet_in = { 963497464, 963497672, 963497880, 41, 108, }; mavlink_mount_status_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); packet1.pointing_a = packet_in.pointing_a; packet1.pointing_b = packet_in.pointing_b; packet1.pointing_c = packet_in.pointing_c; packet1.target_system = packet_in.target_system; packet1.target_component = packet_in.target_component; memset(&packet2, 0, sizeof(packet2)); mavlink_msg_mount_status_encode(system_id, component_id, &msg, &packet1); mavlink_msg_mount_status_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_mount_status_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.pointing_a , packet1.pointing_b , packet1.pointing_c ); mavlink_msg_mount_status_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_mount_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.pointing_a , packet1.pointing_b , packet1.pointing_c ); mavlink_msg_mount_status_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_to_send_buffer(buffer, &msg); for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { comm_send_ch(MAVLINK_COMM_0, buffer[i]); } mavlink_msg_mount_status_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_mount_status_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.pointing_a , packet1.pointing_b , packet1.pointing_c ); mavlink_msg_mount_status_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } static void mavlink_test_fence_point(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) { mavlink_message_t msg; uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; uint16_t i; mavlink_fence_point_t packet_in = { 17.0, 45.0, 29, 96, 163, 230, }; mavlink_fence_point_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); packet1.lat = packet_in.lat; packet1.lng = packet_in.lng; packet1.target_system = packet_in.target_system; packet1.target_component = packet_in.target_component; packet1.idx = packet_in.idx; packet1.count = packet_in.count; memset(&packet2, 0, sizeof(packet2)); mavlink_msg_fence_point_encode(system_id, component_id, &msg, &packet1); mavlink_msg_fence_point_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_fence_point_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng ); mavlink_msg_fence_point_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_fence_point_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng ); mavlink_msg_fence_point_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_to_send_buffer(buffer, &msg); for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { comm_send_ch(MAVLINK_COMM_0, buffer[i]); } mavlink_msg_fence_point_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_fence_point_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng ); mavlink_msg_fence_point_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } static void mavlink_test_fence_fetch_point(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) { mavlink_message_t msg; uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; uint16_t i; mavlink_fence_fetch_point_t packet_in = { 5, 72, 139, }; mavlink_fence_fetch_point_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); packet1.target_system = packet_in.target_system; packet1.target_component = packet_in.target_component; packet1.idx = packet_in.idx; memset(&packet2, 0, sizeof(packet2)); mavlink_msg_fence_fetch_point_encode(system_id, component_id, &msg, &packet1); mavlink_msg_fence_fetch_point_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_fence_fetch_point_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.idx ); mavlink_msg_fence_fetch_point_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_fence_fetch_point_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.idx ); mavlink_msg_fence_fetch_point_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_to_send_buffer(buffer, &msg); for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { comm_send_ch(MAVLINK_COMM_0, buffer[i]); } mavlink_msg_fence_fetch_point_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_fence_fetch_point_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.idx ); mavlink_msg_fence_fetch_point_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } static void mavlink_test_fence_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) { mavlink_message_t msg; uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; uint16_t i; mavlink_fence_status_t packet_in = { 963497464, 17443, 151, 218, }; mavlink_fence_status_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); packet1.breach_time = packet_in.breach_time; packet1.breach_count = packet_in.breach_count; packet1.breach_status = packet_in.breach_status; packet1.breach_type = packet_in.breach_type; memset(&packet2, 0, sizeof(packet2)); mavlink_msg_fence_status_encode(system_id, component_id, &msg, &packet1); mavlink_msg_fence_status_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_fence_status_pack(system_id, component_id, &msg , packet1.breach_status , packet1.breach_count , packet1.breach_type , packet1.breach_time ); mavlink_msg_fence_status_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_fence_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.breach_status , packet1.breach_count , packet1.breach_type , packet1.breach_time ); mavlink_msg_fence_status_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_to_send_buffer(buffer, &msg); for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { comm_send_ch(MAVLINK_COMM_0, buffer[i]); } mavlink_msg_fence_status_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_fence_status_send(MAVLINK_COMM_1 , packet1.breach_status , packet1.breach_count , packet1.breach_type , packet1.breach_time ); mavlink_msg_fence_status_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } static void mavlink_test_ahrs(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) { mavlink_message_t msg; uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; uint16_t i; mavlink_ahrs_t packet_in = { 17.0, 45.0, 73.0, 101.0, 129.0, 157.0, 185.0, }; mavlink_ahrs_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); packet1.omegaIx = packet_in.omegaIx; packet1.omegaIy = packet_in.omegaIy; packet1.omegaIz = packet_in.omegaIz; packet1.accel_weight = packet_in.accel_weight; packet1.renorm_val = packet_in.renorm_val; packet1.error_rp = packet_in.error_rp; packet1.error_yaw = packet_in.error_yaw; memset(&packet2, 0, sizeof(packet2)); mavlink_msg_ahrs_encode(system_id, component_id, &msg, &packet1); mavlink_msg_ahrs_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_ahrs_pack(system_id, component_id, &msg , packet1.omegaIx , packet1.omegaIy , packet1.omegaIz , packet1.accel_weight , packet1.renorm_val , packet1.error_rp , packet1.error_yaw ); mavlink_msg_ahrs_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_ahrs_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.omegaIx , packet1.omegaIy , packet1.omegaIz , packet1.accel_weight , packet1.renorm_val , packet1.error_rp , packet1.error_yaw ); mavlink_msg_ahrs_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_to_send_buffer(buffer, &msg); for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { comm_send_ch(MAVLINK_COMM_0, buffer[i]); } mavlink_msg_ahrs_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_ahrs_send(MAVLINK_COMM_1 , packet1.omegaIx , packet1.omegaIy , packet1.omegaIz , packet1.accel_weight , packet1.renorm_val , packet1.error_rp , packet1.error_yaw ); mavlink_msg_ahrs_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } static void mavlink_test_simstate(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) { mavlink_message_t msg; uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; uint16_t i; mavlink_simstate_t packet_in = { 17.0, 45.0, 73.0, 101.0, 129.0, 157.0, 185.0, 213.0, 241.0, }; mavlink_simstate_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); packet1.roll = packet_in.roll; packet1.pitch = packet_in.pitch; packet1.yaw = packet_in.yaw; packet1.xacc = packet_in.xacc; packet1.yacc = packet_in.yacc; packet1.zacc = packet_in.zacc; packet1.xgyro = packet_in.xgyro; packet1.ygyro = packet_in.ygyro; packet1.zgyro = packet_in.zgyro; memset(&packet2, 0, sizeof(packet2)); mavlink_msg_simstate_encode(system_id, component_id, &msg, &packet1); mavlink_msg_simstate_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_simstate_pack(system_id, component_id, &msg , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro ); mavlink_msg_simstate_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_simstate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro ); mavlink_msg_simstate_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_to_send_buffer(buffer, &msg); for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { comm_send_ch(MAVLINK_COMM_0, buffer[i]); } mavlink_msg_simstate_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_simstate_send(MAVLINK_COMM_1 , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro ); mavlink_msg_simstate_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } static void mavlink_test_hwstatus(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) { mavlink_message_t msg; uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; uint16_t i; mavlink_hwstatus_t packet_in = { 17235, 139, }; mavlink_hwstatus_t packet1, packet2; memset(&packet1, 0, sizeof(packet1)); packet1.Vcc = packet_in.Vcc; packet1.I2Cerr = packet_in.I2Cerr; memset(&packet2, 0, sizeof(packet2)); mavlink_msg_hwstatus_encode(system_id, component_id, &msg, &packet1); mavlink_msg_hwstatus_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_hwstatus_pack(system_id, component_id, &msg , packet1.Vcc , packet1.I2Cerr ); mavlink_msg_hwstatus_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_hwstatus_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.Vcc , packet1.I2Cerr ); mavlink_msg_hwstatus_decode(&msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_to_send_buffer(buffer, &msg); for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { comm_send_ch(MAVLINK_COMM_0, buffer[i]); } mavlink_msg_hwstatus_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); memset(&packet2, 0, sizeof(packet2)); mavlink_msg_hwstatus_send(MAVLINK_COMM_1 , packet1.Vcc , packet1.I2Cerr ); mavlink_msg_hwstatus_decode(last_msg, &packet2); MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); } static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) { mavlink_test_sensor_offsets(system_id, component_id, last_msg); mavlink_test_set_mag_offsets(system_id, component_id, last_msg); mavlink_test_meminfo(system_id, component_id, last_msg); mavlink_test_ap_adc(system_id, component_id, last_msg); mavlink_test_digicam_configure(system_id, component_id, last_msg); mavlink_test_digicam_control(system_id, component_id, last_msg); mavlink_test_mount_configure(system_id, component_id, last_msg); mavlink_test_mount_control(system_id, component_id, last_msg); mavlink_test_mount_status(system_id, component_id, last_msg); mavlink_test_fence_point(system_id, component_id, last_msg); mavlink_test_fence_fetch_point(system_id, component_id, last_msg); mavlink_test_fence_status(system_id, component_id, last_msg); mavlink_test_ahrs(system_id, component_id, last_msg); mavlink_test_simstate(system_id, component_id, last_msg); mavlink_test_hwstatus(system_id, component_id, last_msg); } #ifdef __cplusplus } #endif // __cplusplus #endif // ARDUPILOTMEGA_TESTSUITE_H