mirror of https://github.com/ArduPilot/ardupilot
193 lines
8.1 KiB
C
193 lines
8.1 KiB
C
/** @file
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* @brief MAVLink comm protocol testsuite generated from ualberta.xml
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* @see http://qgroundcontrol.org/mavlink/
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*/
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#ifndef UALBERTA_TESTSUITE_H
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#define UALBERTA_TESTSUITE_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#ifndef MAVLINK_TEST_ALL
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#define MAVLINK_TEST_ALL
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static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg);
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static void mavlink_test_ualberta(uint8_t, uint8_t, mavlink_message_t *last_msg);
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static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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mavlink_test_common(system_id, component_id, last_msg);
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mavlink_test_ualberta(system_id, component_id, last_msg);
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}
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#endif
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#include "../common/testsuite.h"
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static void mavlink_test_nav_filter_bias(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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mavlink_message_t msg;
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uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
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uint16_t i;
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mavlink_nav_filter_bias_t packet_in = {
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93372036854775807ULL,
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73.0,
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101.0,
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129.0,
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157.0,
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185.0,
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213.0,
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};
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mavlink_nav_filter_bias_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.usec = packet_in.usec;
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packet1.accel_0 = packet_in.accel_0;
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packet1.accel_1 = packet_in.accel_1;
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packet1.accel_2 = packet_in.accel_2;
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packet1.gyro_0 = packet_in.gyro_0;
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packet1.gyro_1 = packet_in.gyro_1;
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packet1.gyro_2 = packet_in.gyro_2;
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_nav_filter_bias_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_nav_filter_bias_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_nav_filter_bias_pack(system_id, component_id, &msg , packet1.usec , packet1.accel_0 , packet1.accel_1 , packet1.accel_2 , packet1.gyro_0 , packet1.gyro_1 , packet1.gyro_2 );
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mavlink_msg_nav_filter_bias_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_nav_filter_bias_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.accel_0 , packet1.accel_1 , packet1.accel_2 , packet1.gyro_0 , packet1.gyro_1 , packet1.gyro_2 );
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mavlink_msg_nav_filter_bias_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_to_send_buffer(buffer, &msg);
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for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
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comm_send_ch(MAVLINK_COMM_0, buffer[i]);
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}
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mavlink_msg_nav_filter_bias_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_nav_filter_bias_send(MAVLINK_COMM_1 , packet1.usec , packet1.accel_0 , packet1.accel_1 , packet1.accel_2 , packet1.gyro_0 , packet1.gyro_1 , packet1.gyro_2 );
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mavlink_msg_nav_filter_bias_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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}
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static void mavlink_test_radio_calibration(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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mavlink_message_t msg;
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uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
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uint16_t i;
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mavlink_radio_calibration_t packet_in = {
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{ 17235, 17236, 17237 },
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{ 17547, 17548, 17549 },
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{ 17859, 17860, 17861 },
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{ 18171, 18172 },
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{ 18379, 18380, 18381, 18382, 18383 },
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{ 18899, 18900, 18901, 18902, 18903 },
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};
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mavlink_radio_calibration_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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memcpy(packet1.aileron, packet_in.aileron, sizeof(uint16_t)*3);
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memcpy(packet1.elevator, packet_in.elevator, sizeof(uint16_t)*3);
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memcpy(packet1.rudder, packet_in.rudder, sizeof(uint16_t)*3);
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memcpy(packet1.gyro, packet_in.gyro, sizeof(uint16_t)*2);
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memcpy(packet1.pitch, packet_in.pitch, sizeof(uint16_t)*5);
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memcpy(packet1.throttle, packet_in.throttle, sizeof(uint16_t)*5);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_radio_calibration_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_radio_calibration_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_radio_calibration_pack(system_id, component_id, &msg , packet1.aileron , packet1.elevator , packet1.rudder , packet1.gyro , packet1.pitch , packet1.throttle );
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mavlink_msg_radio_calibration_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_radio_calibration_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.aileron , packet1.elevator , packet1.rudder , packet1.gyro , packet1.pitch , packet1.throttle );
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mavlink_msg_radio_calibration_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_to_send_buffer(buffer, &msg);
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for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
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comm_send_ch(MAVLINK_COMM_0, buffer[i]);
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}
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mavlink_msg_radio_calibration_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_radio_calibration_send(MAVLINK_COMM_1 , packet1.aileron , packet1.elevator , packet1.rudder , packet1.gyro , packet1.pitch , packet1.throttle );
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mavlink_msg_radio_calibration_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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}
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static void mavlink_test_ualberta_sys_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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mavlink_message_t msg;
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uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
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uint16_t i;
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mavlink_ualberta_sys_status_t packet_in = {
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5,
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72,
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139,
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};
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mavlink_ualberta_sys_status_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.mode = packet_in.mode;
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packet1.nav_mode = packet_in.nav_mode;
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packet1.pilot = packet_in.pilot;
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_ualberta_sys_status_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_ualberta_sys_status_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_ualberta_sys_status_pack(system_id, component_id, &msg , packet1.mode , packet1.nav_mode , packet1.pilot );
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mavlink_msg_ualberta_sys_status_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_ualberta_sys_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.mode , packet1.nav_mode , packet1.pilot );
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mavlink_msg_ualberta_sys_status_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_to_send_buffer(buffer, &msg);
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for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
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comm_send_ch(MAVLINK_COMM_0, buffer[i]);
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}
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mavlink_msg_ualberta_sys_status_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_ualberta_sys_status_send(MAVLINK_COMM_1 , packet1.mode , packet1.nav_mode , packet1.pilot );
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mavlink_msg_ualberta_sys_status_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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}
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static void mavlink_test_ualberta(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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mavlink_test_nav_filter_bias(system_id, component_id, last_msg);
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mavlink_test_radio_calibration(system_id, component_id, last_msg);
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mavlink_test_ualberta_sys_status(system_id, component_id, last_msg);
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}
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#ifdef __cplusplus
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}
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#endif // __cplusplus
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#endif // UALBERTA_TESTSUITE_H
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