mirror of https://github.com/ArduPilot/ardupilot
5907 lines
304 KiB
C
5907 lines
304 KiB
C
/** @file
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* @brief MAVLink comm protocol testsuite generated from common.xml
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* @see http://qgroundcontrol.org/mavlink/
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*/
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#ifndef COMMON_TESTSUITE_H
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#define COMMON_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_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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}
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#endif
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static void mavlink_test_heartbeat(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_heartbeat_t packet_in = {
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963497464,17,84,151,218,3
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};
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mavlink_heartbeat_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.custom_mode = packet_in.custom_mode;
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packet1.type = packet_in.type;
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packet1.autopilot = packet_in.autopilot;
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packet1.base_mode = packet_in.base_mode;
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packet1.system_status = packet_in.system_status;
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packet1.mavlink_version = packet_in.mavlink_version;
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_heartbeat_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_heartbeat_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_heartbeat_pack(system_id, component_id, &msg , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status );
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mavlink_msg_heartbeat_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_heartbeat_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status );
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mavlink_msg_heartbeat_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_heartbeat_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_heartbeat_send(MAVLINK_COMM_1 , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status );
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mavlink_msg_heartbeat_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_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_sys_status_t packet_in = {
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963497464,963497672,963497880,17859,17963,18067,18171,18275,18379,18483,18587,18691,223
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};
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mavlink_sys_status_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.onboard_control_sensors_present = packet_in.onboard_control_sensors_present;
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packet1.onboard_control_sensors_enabled = packet_in.onboard_control_sensors_enabled;
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packet1.onboard_control_sensors_health = packet_in.onboard_control_sensors_health;
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packet1.load = packet_in.load;
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packet1.voltage_battery = packet_in.voltage_battery;
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packet1.current_battery = packet_in.current_battery;
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packet1.drop_rate_comm = packet_in.drop_rate_comm;
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packet1.errors_comm = packet_in.errors_comm;
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packet1.errors_count1 = packet_in.errors_count1;
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packet1.errors_count2 = packet_in.errors_count2;
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packet1.errors_count3 = packet_in.errors_count3;
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packet1.errors_count4 = packet_in.errors_count4;
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packet1.battery_remaining = packet_in.battery_remaining;
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_sys_status_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_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_sys_status_pack(system_id, component_id, &msg , packet1.onboard_control_sensors_present , packet1.onboard_control_sensors_enabled , packet1.onboard_control_sensors_health , packet1.load , packet1.voltage_battery , packet1.current_battery , packet1.battery_remaining , packet1.drop_rate_comm , packet1.errors_comm , packet1.errors_count1 , packet1.errors_count2 , packet1.errors_count3 , packet1.errors_count4 );
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mavlink_msg_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_sys_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.onboard_control_sensors_present , packet1.onboard_control_sensors_enabled , packet1.onboard_control_sensors_health , packet1.load , packet1.voltage_battery , packet1.current_battery , packet1.battery_remaining , packet1.drop_rate_comm , packet1.errors_comm , packet1.errors_count1 , packet1.errors_count2 , packet1.errors_count3 , packet1.errors_count4 );
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mavlink_msg_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_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_sys_status_send(MAVLINK_COMM_1 , packet1.onboard_control_sensors_present , packet1.onboard_control_sensors_enabled , packet1.onboard_control_sensors_health , packet1.load , packet1.voltage_battery , packet1.current_battery , packet1.battery_remaining , packet1.drop_rate_comm , packet1.errors_comm , packet1.errors_count1 , packet1.errors_count2 , packet1.errors_count3 , packet1.errors_count4 );
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mavlink_msg_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_system_time(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_system_time_t packet_in = {
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93372036854775807ULL,963497880
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};
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mavlink_system_time_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.time_unix_usec = packet_in.time_unix_usec;
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packet1.time_boot_ms = packet_in.time_boot_ms;
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_system_time_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_system_time_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_system_time_pack(system_id, component_id, &msg , packet1.time_unix_usec , packet1.time_boot_ms );
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mavlink_msg_system_time_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_system_time_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_unix_usec , packet1.time_boot_ms );
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mavlink_msg_system_time_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_system_time_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_system_time_send(MAVLINK_COMM_1 , packet1.time_unix_usec , packet1.time_boot_ms );
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mavlink_msg_system_time_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_ping(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_ping_t packet_in = {
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93372036854775807ULL,963497880,41,108
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};
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mavlink_ping_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.time_usec = packet_in.time_usec;
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packet1.seq = packet_in.seq;
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packet1.target_system = packet_in.target_system;
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packet1.target_component = packet_in.target_component;
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_ping_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_ping_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_ping_pack(system_id, component_id, &msg , packet1.time_usec , packet1.seq , packet1.target_system , packet1.target_component );
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mavlink_msg_ping_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_ping_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.seq , packet1.target_system , packet1.target_component );
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mavlink_msg_ping_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_ping_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_ping_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.seq , packet1.target_system , packet1.target_component );
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mavlink_msg_ping_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_change_operator_control(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_change_operator_control_t packet_in = {
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5,72,139,"DEFGHIJKLMNOPQRSTUVWXYZA"
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};
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mavlink_change_operator_control_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.target_system = packet_in.target_system;
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packet1.control_request = packet_in.control_request;
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packet1.version = packet_in.version;
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mav_array_memcpy(packet1.passkey, packet_in.passkey, sizeof(char)*25);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_change_operator_control_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_change_operator_control_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_change_operator_control_pack(system_id, component_id, &msg , packet1.target_system , packet1.control_request , packet1.version , packet1.passkey );
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mavlink_msg_change_operator_control_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_change_operator_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.control_request , packet1.version , packet1.passkey );
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mavlink_msg_change_operator_control_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_change_operator_control_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_change_operator_control_send(MAVLINK_COMM_1 , packet1.target_system , packet1.control_request , packet1.version , packet1.passkey );
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mavlink_msg_change_operator_control_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_change_operator_control_ack(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_change_operator_control_ack_t packet_in = {
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5,72,139
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};
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mavlink_change_operator_control_ack_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.gcs_system_id = packet_in.gcs_system_id;
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packet1.control_request = packet_in.control_request;
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packet1.ack = packet_in.ack;
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_change_operator_control_ack_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_change_operator_control_ack_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_change_operator_control_ack_pack(system_id, component_id, &msg , packet1.gcs_system_id , packet1.control_request , packet1.ack );
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mavlink_msg_change_operator_control_ack_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_change_operator_control_ack_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.gcs_system_id , packet1.control_request , packet1.ack );
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mavlink_msg_change_operator_control_ack_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_change_operator_control_ack_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_change_operator_control_ack_send(MAVLINK_COMM_1 , packet1.gcs_system_id , packet1.control_request , packet1.ack );
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mavlink_msg_change_operator_control_ack_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_auth_key(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_auth_key_t packet_in = {
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"ABCDEFGHIJKLMNOPQRSTUVWXYZABCDE"
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};
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mavlink_auth_key_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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mav_array_memcpy(packet1.key, packet_in.key, sizeof(char)*32);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_auth_key_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_auth_key_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_auth_key_pack(system_id, component_id, &msg , packet1.key );
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mavlink_msg_auth_key_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_auth_key_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.key );
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mavlink_msg_auth_key_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_auth_key_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_auth_key_send(MAVLINK_COMM_1 , packet1.key );
|
|
mavlink_msg_auth_key_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_set_mode(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_mode_t packet_in = {
|
|
963497464,17,84
|
|
};
|
|
mavlink_set_mode_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.custom_mode = packet_in.custom_mode;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.base_mode = packet_in.base_mode;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_mode_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_set_mode_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_mode_pack(system_id, component_id, &msg , packet1.target_system , packet1.base_mode , packet1.custom_mode );
|
|
mavlink_msg_set_mode_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_mode_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.base_mode , packet1.custom_mode );
|
|
mavlink_msg_set_mode_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_mode_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_mode_send(MAVLINK_COMM_1 , packet1.target_system , packet1.base_mode , packet1.custom_mode );
|
|
mavlink_msg_set_mode_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_param_request_read(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_param_request_read_t packet_in = {
|
|
17235,139,206,"EFGHIJKLMNOPQRS"
|
|
};
|
|
mavlink_param_request_read_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.param_index = packet_in.param_index;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
|
|
mav_array_memcpy(packet1.param_id, packet_in.param_id, sizeof(char)*16);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_param_request_read_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_param_request_read_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_param_request_read_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_index );
|
|
mavlink_msg_param_request_read_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_param_request_read_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_index );
|
|
mavlink_msg_param_request_read_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_param_request_read_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_param_request_read_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_index );
|
|
mavlink_msg_param_request_read_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_param_request_list(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_param_request_list_t packet_in = {
|
|
5,72
|
|
};
|
|
mavlink_param_request_list_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_param_request_list_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_param_request_list_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_param_request_list_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component );
|
|
mavlink_msg_param_request_list_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_param_request_list_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component );
|
|
mavlink_msg_param_request_list_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_param_request_list_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_param_request_list_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component );
|
|
mavlink_msg_param_request_list_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_param_value(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_param_value_t packet_in = {
|
|
17.0,17443,17547,"IJKLMNOPQRSTUVW",77
|
|
};
|
|
mavlink_param_value_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.param_value = packet_in.param_value;
|
|
packet1.param_count = packet_in.param_count;
|
|
packet1.param_index = packet_in.param_index;
|
|
packet1.param_type = packet_in.param_type;
|
|
|
|
mav_array_memcpy(packet1.param_id, packet_in.param_id, sizeof(char)*16);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_param_value_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_param_value_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_param_value_pack(system_id, component_id, &msg , packet1.param_id , packet1.param_value , packet1.param_type , packet1.param_count , packet1.param_index );
|
|
mavlink_msg_param_value_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_param_value_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.param_id , packet1.param_value , packet1.param_type , packet1.param_count , packet1.param_index );
|
|
mavlink_msg_param_value_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_param_value_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_param_value_send(MAVLINK_COMM_1 , packet1.param_id , packet1.param_value , packet1.param_type , packet1.param_count , packet1.param_index );
|
|
mavlink_msg_param_value_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_param_set(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_param_set_t packet_in = {
|
|
17.0,17,84,"GHIJKLMNOPQRSTU",199
|
|
};
|
|
mavlink_param_set_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.param_value = packet_in.param_value;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
packet1.param_type = packet_in.param_type;
|
|
|
|
mav_array_memcpy(packet1.param_id, packet_in.param_id, sizeof(char)*16);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_param_set_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_param_set_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_param_set_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_value , packet1.param_type );
|
|
mavlink_msg_param_set_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_param_set_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_value , packet1.param_type );
|
|
mavlink_msg_param_set_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_param_set_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_param_set_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_value , packet1.param_type );
|
|
mavlink_msg_param_set_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_gps_raw_int(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_gps_raw_int_t packet_in = {
|
|
93372036854775807ULL,963497880,963498088,963498296,18275,18379,18483,18587,89,156
|
|
};
|
|
mavlink_gps_raw_int_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_usec = packet_in.time_usec;
|
|
packet1.lat = packet_in.lat;
|
|
packet1.lon = packet_in.lon;
|
|
packet1.alt = packet_in.alt;
|
|
packet1.eph = packet_in.eph;
|
|
packet1.epv = packet_in.epv;
|
|
packet1.vel = packet_in.vel;
|
|
packet1.cog = packet_in.cog;
|
|
packet1.fix_type = packet_in.fix_type;
|
|
packet1.satellites_visible = packet_in.satellites_visible;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps_raw_int_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_gps_raw_int_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps_raw_int_pack(system_id, component_id, &msg , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.cog , packet1.satellites_visible );
|
|
mavlink_msg_gps_raw_int_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps_raw_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.cog , packet1.satellites_visible );
|
|
mavlink_msg_gps_raw_int_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_gps_raw_int_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps_raw_int_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.cog , packet1.satellites_visible );
|
|
mavlink_msg_gps_raw_int_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_gps_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_gps_status_t packet_in = {
|
|
5,{ 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91 },{ 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151 },{ 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211 },{ 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15 },{ 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75 }
|
|
};
|
|
mavlink_gps_status_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.satellites_visible = packet_in.satellites_visible;
|
|
|
|
mav_array_memcpy(packet1.satellite_prn, packet_in.satellite_prn, sizeof(uint8_t)*20);
|
|
mav_array_memcpy(packet1.satellite_used, packet_in.satellite_used, sizeof(uint8_t)*20);
|
|
mav_array_memcpy(packet1.satellite_elevation, packet_in.satellite_elevation, sizeof(uint8_t)*20);
|
|
mav_array_memcpy(packet1.satellite_azimuth, packet_in.satellite_azimuth, sizeof(uint8_t)*20);
|
|
mav_array_memcpy(packet1.satellite_snr, packet_in.satellite_snr, sizeof(uint8_t)*20);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps_status_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_gps_status_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps_status_pack(system_id, component_id, &msg , packet1.satellites_visible , packet1.satellite_prn , packet1.satellite_used , packet1.satellite_elevation , packet1.satellite_azimuth , packet1.satellite_snr );
|
|
mavlink_msg_gps_status_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.satellites_visible , packet1.satellite_prn , packet1.satellite_used , packet1.satellite_elevation , packet1.satellite_azimuth , packet1.satellite_snr );
|
|
mavlink_msg_gps_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_gps_status_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps_status_send(MAVLINK_COMM_1 , packet1.satellites_visible , packet1.satellite_prn , packet1.satellite_used , packet1.satellite_elevation , packet1.satellite_azimuth , packet1.satellite_snr );
|
|
mavlink_msg_gps_status_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_scaled_imu(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_scaled_imu_t packet_in = {
|
|
963497464,17443,17547,17651,17755,17859,17963,18067,18171,18275
|
|
};
|
|
mavlink_scaled_imu_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
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;
|
|
packet1.xmag = packet_in.xmag;
|
|
packet1.ymag = packet_in.ymag;
|
|
packet1.zmag = packet_in.zmag;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_scaled_imu_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_scaled_imu_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_scaled_imu_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
|
|
mavlink_msg_scaled_imu_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_scaled_imu_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
|
|
mavlink_msg_scaled_imu_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_scaled_imu_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_scaled_imu_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
|
|
mavlink_msg_scaled_imu_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_raw_imu(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_raw_imu_t packet_in = {
|
|
93372036854775807ULL,17651,17755,17859,17963,18067,18171,18275,18379,18483
|
|
};
|
|
mavlink_raw_imu_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_usec = packet_in.time_usec;
|
|
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;
|
|
packet1.xmag = packet_in.xmag;
|
|
packet1.ymag = packet_in.ymag;
|
|
packet1.zmag = packet_in.zmag;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_raw_imu_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_raw_imu_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_raw_imu_pack(system_id, component_id, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
|
|
mavlink_msg_raw_imu_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_raw_imu_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
|
|
mavlink_msg_raw_imu_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_raw_imu_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_raw_imu_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
|
|
mavlink_msg_raw_imu_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_raw_pressure(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_raw_pressure_t packet_in = {
|
|
93372036854775807ULL,17651,17755,17859,17963
|
|
};
|
|
mavlink_raw_pressure_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_usec = packet_in.time_usec;
|
|
packet1.press_abs = packet_in.press_abs;
|
|
packet1.press_diff1 = packet_in.press_diff1;
|
|
packet1.press_diff2 = packet_in.press_diff2;
|
|
packet1.temperature = packet_in.temperature;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_raw_pressure_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_raw_pressure_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_raw_pressure_pack(system_id, component_id, &msg , packet1.time_usec , packet1.press_abs , packet1.press_diff1 , packet1.press_diff2 , packet1.temperature );
|
|
mavlink_msg_raw_pressure_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_raw_pressure_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.press_abs , packet1.press_diff1 , packet1.press_diff2 , packet1.temperature );
|
|
mavlink_msg_raw_pressure_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_raw_pressure_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_raw_pressure_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.press_abs , packet1.press_diff1 , packet1.press_diff2 , packet1.temperature );
|
|
mavlink_msg_raw_pressure_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_scaled_pressure(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_scaled_pressure_t packet_in = {
|
|
963497464,45.0,73.0,17859
|
|
};
|
|
mavlink_scaled_pressure_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
packet1.press_abs = packet_in.press_abs;
|
|
packet1.press_diff = packet_in.press_diff;
|
|
packet1.temperature = packet_in.temperature;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_scaled_pressure_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_scaled_pressure_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_scaled_pressure_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.press_abs , packet1.press_diff , packet1.temperature );
|
|
mavlink_msg_scaled_pressure_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_scaled_pressure_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.press_abs , packet1.press_diff , packet1.temperature );
|
|
mavlink_msg_scaled_pressure_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_scaled_pressure_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_scaled_pressure_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.press_abs , packet1.press_diff , packet1.temperature );
|
|
mavlink_msg_scaled_pressure_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_attitude(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_attitude_t packet_in = {
|
|
963497464,45.0,73.0,101.0,129.0,157.0,185.0
|
|
};
|
|
mavlink_attitude_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
packet1.roll = packet_in.roll;
|
|
packet1.pitch = packet_in.pitch;
|
|
packet1.yaw = packet_in.yaw;
|
|
packet1.rollspeed = packet_in.rollspeed;
|
|
packet1.pitchspeed = packet_in.pitchspeed;
|
|
packet1.yawspeed = packet_in.yawspeed;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_attitude_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_attitude_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_attitude_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed );
|
|
mavlink_msg_attitude_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_attitude_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed );
|
|
mavlink_msg_attitude_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_attitude_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_attitude_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed );
|
|
mavlink_msg_attitude_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_attitude_quaternion(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_attitude_quaternion_t packet_in = {
|
|
963497464,45.0,73.0,101.0,129.0,157.0,185.0,213.0
|
|
};
|
|
mavlink_attitude_quaternion_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
packet1.q1 = packet_in.q1;
|
|
packet1.q2 = packet_in.q2;
|
|
packet1.q3 = packet_in.q3;
|
|
packet1.q4 = packet_in.q4;
|
|
packet1.rollspeed = packet_in.rollspeed;
|
|
packet1.pitchspeed = packet_in.pitchspeed;
|
|
packet1.yawspeed = packet_in.yawspeed;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_attitude_quaternion_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_attitude_quaternion_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_attitude_quaternion_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.q1 , packet1.q2 , packet1.q3 , packet1.q4 , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed );
|
|
mavlink_msg_attitude_quaternion_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_attitude_quaternion_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.q1 , packet1.q2 , packet1.q3 , packet1.q4 , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed );
|
|
mavlink_msg_attitude_quaternion_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_attitude_quaternion_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_attitude_quaternion_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.q1 , packet1.q2 , packet1.q3 , packet1.q4 , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed );
|
|
mavlink_msg_attitude_quaternion_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_local_position_ned(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_local_position_ned_t packet_in = {
|
|
963497464,45.0,73.0,101.0,129.0,157.0,185.0
|
|
};
|
|
mavlink_local_position_ned_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
packet1.x = packet_in.x;
|
|
packet1.y = packet_in.y;
|
|
packet1.z = packet_in.z;
|
|
packet1.vx = packet_in.vx;
|
|
packet1.vy = packet_in.vy;
|
|
packet1.vz = packet_in.vz;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_local_position_ned_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_local_position_ned_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_local_position_ned_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz );
|
|
mavlink_msg_local_position_ned_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_local_position_ned_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz );
|
|
mavlink_msg_local_position_ned_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_local_position_ned_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_local_position_ned_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz );
|
|
mavlink_msg_local_position_ned_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_global_position_int(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_global_position_int_t packet_in = {
|
|
963497464,963497672,963497880,963498088,963498296,18275,18379,18483,18587
|
|
};
|
|
mavlink_global_position_int_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
packet1.lat = packet_in.lat;
|
|
packet1.lon = packet_in.lon;
|
|
packet1.alt = packet_in.alt;
|
|
packet1.relative_alt = packet_in.relative_alt;
|
|
packet1.vx = packet_in.vx;
|
|
packet1.vy = packet_in.vy;
|
|
packet1.vz = packet_in.vz;
|
|
packet1.hdg = packet_in.hdg;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_global_position_int_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_global_position_int_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_global_position_int_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.lat , packet1.lon , packet1.alt , packet1.relative_alt , packet1.vx , packet1.vy , packet1.vz , packet1.hdg );
|
|
mavlink_msg_global_position_int_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_global_position_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.lat , packet1.lon , packet1.alt , packet1.relative_alt , packet1.vx , packet1.vy , packet1.vz , packet1.hdg );
|
|
mavlink_msg_global_position_int_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_global_position_int_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_global_position_int_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.lat , packet1.lon , packet1.alt , packet1.relative_alt , packet1.vx , packet1.vy , packet1.vz , packet1.hdg );
|
|
mavlink_msg_global_position_int_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_rc_channels_scaled(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_rc_channels_scaled_t packet_in = {
|
|
963497464,17443,17547,17651,17755,17859,17963,18067,18171,65,132
|
|
};
|
|
mavlink_rc_channels_scaled_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
packet1.chan1_scaled = packet_in.chan1_scaled;
|
|
packet1.chan2_scaled = packet_in.chan2_scaled;
|
|
packet1.chan3_scaled = packet_in.chan3_scaled;
|
|
packet1.chan4_scaled = packet_in.chan4_scaled;
|
|
packet1.chan5_scaled = packet_in.chan5_scaled;
|
|
packet1.chan6_scaled = packet_in.chan6_scaled;
|
|
packet1.chan7_scaled = packet_in.chan7_scaled;
|
|
packet1.chan8_scaled = packet_in.chan8_scaled;
|
|
packet1.port = packet_in.port;
|
|
packet1.rssi = packet_in.rssi;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_rc_channels_scaled_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_rc_channels_scaled_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_rc_channels_scaled_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.port , packet1.chan1_scaled , packet1.chan2_scaled , packet1.chan3_scaled , packet1.chan4_scaled , packet1.chan5_scaled , packet1.chan6_scaled , packet1.chan7_scaled , packet1.chan8_scaled , packet1.rssi );
|
|
mavlink_msg_rc_channels_scaled_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_rc_channels_scaled_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.port , packet1.chan1_scaled , packet1.chan2_scaled , packet1.chan3_scaled , packet1.chan4_scaled , packet1.chan5_scaled , packet1.chan6_scaled , packet1.chan7_scaled , packet1.chan8_scaled , packet1.rssi );
|
|
mavlink_msg_rc_channels_scaled_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_rc_channels_scaled_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_rc_channels_scaled_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.port , packet1.chan1_scaled , packet1.chan2_scaled , packet1.chan3_scaled , packet1.chan4_scaled , packet1.chan5_scaled , packet1.chan6_scaled , packet1.chan7_scaled , packet1.chan8_scaled , packet1.rssi );
|
|
mavlink_msg_rc_channels_scaled_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_rc_channels_raw(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_rc_channels_raw_t packet_in = {
|
|
963497464,17443,17547,17651,17755,17859,17963,18067,18171,65,132
|
|
};
|
|
mavlink_rc_channels_raw_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
packet1.chan1_raw = packet_in.chan1_raw;
|
|
packet1.chan2_raw = packet_in.chan2_raw;
|
|
packet1.chan3_raw = packet_in.chan3_raw;
|
|
packet1.chan4_raw = packet_in.chan4_raw;
|
|
packet1.chan5_raw = packet_in.chan5_raw;
|
|
packet1.chan6_raw = packet_in.chan6_raw;
|
|
packet1.chan7_raw = packet_in.chan7_raw;
|
|
packet1.chan8_raw = packet_in.chan8_raw;
|
|
packet1.port = packet_in.port;
|
|
packet1.rssi = packet_in.rssi;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_rc_channels_raw_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_rc_channels_raw_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_rc_channels_raw_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.port , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.rssi );
|
|
mavlink_msg_rc_channels_raw_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_rc_channels_raw_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.port , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.rssi );
|
|
mavlink_msg_rc_channels_raw_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_rc_channels_raw_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_rc_channels_raw_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.port , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.rssi );
|
|
mavlink_msg_rc_channels_raw_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_servo_output_raw(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_servo_output_raw_t packet_in = {
|
|
963497464,17443,17547,17651,17755,17859,17963,18067,18171,65
|
|
};
|
|
mavlink_servo_output_raw_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_usec = packet_in.time_usec;
|
|
packet1.servo1_raw = packet_in.servo1_raw;
|
|
packet1.servo2_raw = packet_in.servo2_raw;
|
|
packet1.servo3_raw = packet_in.servo3_raw;
|
|
packet1.servo4_raw = packet_in.servo4_raw;
|
|
packet1.servo5_raw = packet_in.servo5_raw;
|
|
packet1.servo6_raw = packet_in.servo6_raw;
|
|
packet1.servo7_raw = packet_in.servo7_raw;
|
|
packet1.servo8_raw = packet_in.servo8_raw;
|
|
packet1.port = packet_in.port;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_servo_output_raw_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_servo_output_raw_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_servo_output_raw_pack(system_id, component_id, &msg , packet1.time_usec , packet1.port , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw );
|
|
mavlink_msg_servo_output_raw_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_servo_output_raw_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.port , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw );
|
|
mavlink_msg_servo_output_raw_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_servo_output_raw_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_servo_output_raw_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.port , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw );
|
|
mavlink_msg_servo_output_raw_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_mission_request_partial_list(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_mission_request_partial_list_t packet_in = {
|
|
17235,17339,17,84
|
|
};
|
|
mavlink_mission_request_partial_list_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.start_index = packet_in.start_index;
|
|
packet1.end_index = packet_in.end_index;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_request_partial_list_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_mission_request_partial_list_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_request_partial_list_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.start_index , packet1.end_index );
|
|
mavlink_msg_mission_request_partial_list_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_request_partial_list_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.start_index , packet1.end_index );
|
|
mavlink_msg_mission_request_partial_list_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_mission_request_partial_list_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_request_partial_list_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.start_index , packet1.end_index );
|
|
mavlink_msg_mission_request_partial_list_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_mission_write_partial_list(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_mission_write_partial_list_t packet_in = {
|
|
17235,17339,17,84
|
|
};
|
|
mavlink_mission_write_partial_list_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.start_index = packet_in.start_index;
|
|
packet1.end_index = packet_in.end_index;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_write_partial_list_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_mission_write_partial_list_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_write_partial_list_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.start_index , packet1.end_index );
|
|
mavlink_msg_mission_write_partial_list_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_write_partial_list_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.start_index , packet1.end_index );
|
|
mavlink_msg_mission_write_partial_list_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_mission_write_partial_list_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_write_partial_list_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.start_index , packet1.end_index );
|
|
mavlink_msg_mission_write_partial_list_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_mission_item(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_mission_item_t packet_in = {
|
|
17.0,45.0,73.0,101.0,129.0,157.0,185.0,18691,18795,101,168,235,46,113
|
|
};
|
|
mavlink_mission_item_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.param1 = packet_in.param1;
|
|
packet1.param2 = packet_in.param2;
|
|
packet1.param3 = packet_in.param3;
|
|
packet1.param4 = packet_in.param4;
|
|
packet1.x = packet_in.x;
|
|
packet1.y = packet_in.y;
|
|
packet1.z = packet_in.z;
|
|
packet1.seq = packet_in.seq;
|
|
packet1.command = packet_in.command;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
packet1.frame = packet_in.frame;
|
|
packet1.current = packet_in.current;
|
|
packet1.autocontinue = packet_in.autocontinue;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_item_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_mission_item_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_item_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.seq , packet1.frame , packet1.command , packet1.current , packet1.autocontinue , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.x , packet1.y , packet1.z );
|
|
mavlink_msg_mission_item_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_item_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.seq , packet1.frame , packet1.command , packet1.current , packet1.autocontinue , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.x , packet1.y , packet1.z );
|
|
mavlink_msg_mission_item_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_mission_item_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_item_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.seq , packet1.frame , packet1.command , packet1.current , packet1.autocontinue , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.x , packet1.y , packet1.z );
|
|
mavlink_msg_mission_item_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_mission_request(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_mission_request_t packet_in = {
|
|
17235,139,206
|
|
};
|
|
mavlink_mission_request_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.seq = packet_in.seq;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_request_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_mission_request_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_request_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.seq );
|
|
mavlink_msg_mission_request_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_request_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.seq );
|
|
mavlink_msg_mission_request_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_mission_request_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_request_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.seq );
|
|
mavlink_msg_mission_request_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_mission_set_current(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_mission_set_current_t packet_in = {
|
|
17235,139,206
|
|
};
|
|
mavlink_mission_set_current_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.seq = packet_in.seq;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_set_current_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_mission_set_current_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_set_current_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.seq );
|
|
mavlink_msg_mission_set_current_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_set_current_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.seq );
|
|
mavlink_msg_mission_set_current_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_mission_set_current_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_set_current_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.seq );
|
|
mavlink_msg_mission_set_current_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_mission_current(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_mission_current_t packet_in = {
|
|
17235
|
|
};
|
|
mavlink_mission_current_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.seq = packet_in.seq;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_current_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_mission_current_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_current_pack(system_id, component_id, &msg , packet1.seq );
|
|
mavlink_msg_mission_current_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_current_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.seq );
|
|
mavlink_msg_mission_current_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_mission_current_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_current_send(MAVLINK_COMM_1 , packet1.seq );
|
|
mavlink_msg_mission_current_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_mission_request_list(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_mission_request_list_t packet_in = {
|
|
5,72
|
|
};
|
|
mavlink_mission_request_list_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_request_list_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_mission_request_list_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_request_list_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component );
|
|
mavlink_msg_mission_request_list_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_request_list_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component );
|
|
mavlink_msg_mission_request_list_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_mission_request_list_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_request_list_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component );
|
|
mavlink_msg_mission_request_list_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_mission_count(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_mission_count_t packet_in = {
|
|
17235,139,206
|
|
};
|
|
mavlink_mission_count_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.count = packet_in.count;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_count_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_mission_count_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_count_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.count );
|
|
mavlink_msg_mission_count_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_count_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.count );
|
|
mavlink_msg_mission_count_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_mission_count_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_count_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.count );
|
|
mavlink_msg_mission_count_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_mission_clear_all(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_mission_clear_all_t packet_in = {
|
|
5,72
|
|
};
|
|
mavlink_mission_clear_all_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_clear_all_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_mission_clear_all_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_clear_all_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component );
|
|
mavlink_msg_mission_clear_all_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_clear_all_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component );
|
|
mavlink_msg_mission_clear_all_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_mission_clear_all_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_clear_all_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component );
|
|
mavlink_msg_mission_clear_all_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_mission_item_reached(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_mission_item_reached_t packet_in = {
|
|
17235
|
|
};
|
|
mavlink_mission_item_reached_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.seq = packet_in.seq;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_item_reached_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_mission_item_reached_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_item_reached_pack(system_id, component_id, &msg , packet1.seq );
|
|
mavlink_msg_mission_item_reached_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_item_reached_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.seq );
|
|
mavlink_msg_mission_item_reached_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_mission_item_reached_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_item_reached_send(MAVLINK_COMM_1 , packet1.seq );
|
|
mavlink_msg_mission_item_reached_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_mission_ack(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_mission_ack_t packet_in = {
|
|
5,72,139
|
|
};
|
|
mavlink_mission_ack_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
packet1.type = packet_in.type;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_ack_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_mission_ack_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_ack_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.type );
|
|
mavlink_msg_mission_ack_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_ack_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.type );
|
|
mavlink_msg_mission_ack_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_mission_ack_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_ack_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.type );
|
|
mavlink_msg_mission_ack_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_set_gps_global_origin(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_gps_global_origin_t packet_in = {
|
|
963497464,963497672,963497880,41
|
|
};
|
|
mavlink_set_gps_global_origin_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.latitude = packet_in.latitude;
|
|
packet1.longitude = packet_in.longitude;
|
|
packet1.altitude = packet_in.altitude;
|
|
packet1.target_system = packet_in.target_system;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_gps_global_origin_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_set_gps_global_origin_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_gps_global_origin_pack(system_id, component_id, &msg , packet1.target_system , packet1.latitude , packet1.longitude , packet1.altitude );
|
|
mavlink_msg_set_gps_global_origin_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_gps_global_origin_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.latitude , packet1.longitude , packet1.altitude );
|
|
mavlink_msg_set_gps_global_origin_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_gps_global_origin_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_gps_global_origin_send(MAVLINK_COMM_1 , packet1.target_system , packet1.latitude , packet1.longitude , packet1.altitude );
|
|
mavlink_msg_set_gps_global_origin_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_gps_global_origin(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_gps_global_origin_t packet_in = {
|
|
963497464,963497672,963497880
|
|
};
|
|
mavlink_gps_global_origin_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.latitude = packet_in.latitude;
|
|
packet1.longitude = packet_in.longitude;
|
|
packet1.altitude = packet_in.altitude;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps_global_origin_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_gps_global_origin_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps_global_origin_pack(system_id, component_id, &msg , packet1.latitude , packet1.longitude , packet1.altitude );
|
|
mavlink_msg_gps_global_origin_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps_global_origin_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.latitude , packet1.longitude , packet1.altitude );
|
|
mavlink_msg_gps_global_origin_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_gps_global_origin_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps_global_origin_send(MAVLINK_COMM_1 , packet1.latitude , packet1.longitude , packet1.altitude );
|
|
mavlink_msg_gps_global_origin_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_param_map_rc(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_param_map_rc_t packet_in = {
|
|
17.0,45.0,73.0,101.0,18067,187,254,"UVWXYZABCDEFGHI",113
|
|
};
|
|
mavlink_param_map_rc_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.param_value0 = packet_in.param_value0;
|
|
packet1.scale = packet_in.scale;
|
|
packet1.param_value_min = packet_in.param_value_min;
|
|
packet1.param_value_max = packet_in.param_value_max;
|
|
packet1.param_index = packet_in.param_index;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
packet1.parameter_rc_channel_index = packet_in.parameter_rc_channel_index;
|
|
|
|
mav_array_memcpy(packet1.param_id, packet_in.param_id, sizeof(char)*16);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_param_map_rc_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_param_map_rc_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_param_map_rc_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_index , packet1.parameter_rc_channel_index , packet1.param_value0 , packet1.scale , packet1.param_value_min , packet1.param_value_max );
|
|
mavlink_msg_param_map_rc_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_param_map_rc_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_index , packet1.parameter_rc_channel_index , packet1.param_value0 , packet1.scale , packet1.param_value_min , packet1.param_value_max );
|
|
mavlink_msg_param_map_rc_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_param_map_rc_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_param_map_rc_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_index , packet1.parameter_rc_channel_index , packet1.param_value0 , packet1.scale , packet1.param_value_min , packet1.param_value_max );
|
|
mavlink_msg_param_map_rc_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_safety_set_allowed_area(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_safety_set_allowed_area_t packet_in = {
|
|
17.0,45.0,73.0,101.0,129.0,157.0,77,144,211
|
|
};
|
|
mavlink_safety_set_allowed_area_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.p1x = packet_in.p1x;
|
|
packet1.p1y = packet_in.p1y;
|
|
packet1.p1z = packet_in.p1z;
|
|
packet1.p2x = packet_in.p2x;
|
|
packet1.p2y = packet_in.p2y;
|
|
packet1.p2z = packet_in.p2z;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
packet1.frame = packet_in.frame;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_safety_set_allowed_area_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_safety_set_allowed_area_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_safety_set_allowed_area_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.frame , packet1.p1x , packet1.p1y , packet1.p1z , packet1.p2x , packet1.p2y , packet1.p2z );
|
|
mavlink_msg_safety_set_allowed_area_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_safety_set_allowed_area_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.frame , packet1.p1x , packet1.p1y , packet1.p1z , packet1.p2x , packet1.p2y , packet1.p2z );
|
|
mavlink_msg_safety_set_allowed_area_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_safety_set_allowed_area_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_safety_set_allowed_area_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.frame , packet1.p1x , packet1.p1y , packet1.p1z , packet1.p2x , packet1.p2y , packet1.p2z );
|
|
mavlink_msg_safety_set_allowed_area_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_safety_allowed_area(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_safety_allowed_area_t packet_in = {
|
|
17.0,45.0,73.0,101.0,129.0,157.0,77
|
|
};
|
|
mavlink_safety_allowed_area_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.p1x = packet_in.p1x;
|
|
packet1.p1y = packet_in.p1y;
|
|
packet1.p1z = packet_in.p1z;
|
|
packet1.p2x = packet_in.p2x;
|
|
packet1.p2y = packet_in.p2y;
|
|
packet1.p2z = packet_in.p2z;
|
|
packet1.frame = packet_in.frame;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_safety_allowed_area_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_safety_allowed_area_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_safety_allowed_area_pack(system_id, component_id, &msg , packet1.frame , packet1.p1x , packet1.p1y , packet1.p1z , packet1.p2x , packet1.p2y , packet1.p2z );
|
|
mavlink_msg_safety_allowed_area_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_safety_allowed_area_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.frame , packet1.p1x , packet1.p1y , packet1.p1z , packet1.p2x , packet1.p2y , packet1.p2z );
|
|
mavlink_msg_safety_allowed_area_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_safety_allowed_area_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_safety_allowed_area_send(MAVLINK_COMM_1 , packet1.frame , packet1.p1x , packet1.p1y , packet1.p1z , packet1.p2x , packet1.p2y , packet1.p2z );
|
|
mavlink_msg_safety_allowed_area_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_attitude_quaternion_cov(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_attitude_quaternion_cov_t packet_in = {
|
|
963497464,{ 45.0, 46.0, 47.0, 48.0 },157.0,185.0,213.0,{ 241.0, 242.0, 243.0, 244.0, 245.0, 246.0, 247.0, 248.0, 249.0 }
|
|
};
|
|
mavlink_attitude_quaternion_cov_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
packet1.rollspeed = packet_in.rollspeed;
|
|
packet1.pitchspeed = packet_in.pitchspeed;
|
|
packet1.yawspeed = packet_in.yawspeed;
|
|
|
|
mav_array_memcpy(packet1.q, packet_in.q, sizeof(float)*4);
|
|
mav_array_memcpy(packet1.covariance, packet_in.covariance, sizeof(float)*9);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_attitude_quaternion_cov_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_attitude_quaternion_cov_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_attitude_quaternion_cov_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.q , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.covariance );
|
|
mavlink_msg_attitude_quaternion_cov_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_attitude_quaternion_cov_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.q , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.covariance );
|
|
mavlink_msg_attitude_quaternion_cov_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_attitude_quaternion_cov_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_attitude_quaternion_cov_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.q , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.covariance );
|
|
mavlink_msg_attitude_quaternion_cov_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_nav_controller_output(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_nav_controller_output_t packet_in = {
|
|
17.0,45.0,73.0,101.0,129.0,18275,18379,18483
|
|
};
|
|
mavlink_nav_controller_output_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.nav_roll = packet_in.nav_roll;
|
|
packet1.nav_pitch = packet_in.nav_pitch;
|
|
packet1.alt_error = packet_in.alt_error;
|
|
packet1.aspd_error = packet_in.aspd_error;
|
|
packet1.xtrack_error = packet_in.xtrack_error;
|
|
packet1.nav_bearing = packet_in.nav_bearing;
|
|
packet1.target_bearing = packet_in.target_bearing;
|
|
packet1.wp_dist = packet_in.wp_dist;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_nav_controller_output_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_nav_controller_output_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_nav_controller_output_pack(system_id, component_id, &msg , packet1.nav_roll , packet1.nav_pitch , packet1.nav_bearing , packet1.target_bearing , packet1.wp_dist , packet1.alt_error , packet1.aspd_error , packet1.xtrack_error );
|
|
mavlink_msg_nav_controller_output_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_nav_controller_output_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.nav_roll , packet1.nav_pitch , packet1.nav_bearing , packet1.target_bearing , packet1.wp_dist , packet1.alt_error , packet1.aspd_error , packet1.xtrack_error );
|
|
mavlink_msg_nav_controller_output_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_nav_controller_output_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_nav_controller_output_send(MAVLINK_COMM_1 , packet1.nav_roll , packet1.nav_pitch , packet1.nav_bearing , packet1.target_bearing , packet1.wp_dist , packet1.alt_error , packet1.aspd_error , packet1.xtrack_error );
|
|
mavlink_msg_nav_controller_output_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_global_position_int_cov(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_global_position_int_cov_t packet_in = {
|
|
93372036854775807ULL,963497880,963498088,963498296,963498504,963498712,213.0,241.0,269.0,{ 297.0, 298.0, 299.0, 300.0, 301.0, 302.0, 303.0, 304.0, 305.0, 306.0, 307.0, 308.0, 309.0, 310.0, 311.0, 312.0, 313.0, 314.0, 315.0, 316.0, 317.0, 318.0, 319.0, 320.0, 321.0, 322.0, 323.0, 324.0, 325.0, 326.0, 327.0, 328.0, 329.0, 330.0, 331.0, 332.0 },45
|
|
};
|
|
mavlink_global_position_int_cov_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_utc = packet_in.time_utc;
|
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
packet1.lat = packet_in.lat;
|
|
packet1.lon = packet_in.lon;
|
|
packet1.alt = packet_in.alt;
|
|
packet1.relative_alt = packet_in.relative_alt;
|
|
packet1.vx = packet_in.vx;
|
|
packet1.vy = packet_in.vy;
|
|
packet1.vz = packet_in.vz;
|
|
packet1.estimator_type = packet_in.estimator_type;
|
|
|
|
mav_array_memcpy(packet1.covariance, packet_in.covariance, sizeof(float)*36);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_global_position_int_cov_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_global_position_int_cov_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_global_position_int_cov_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.time_utc , packet1.estimator_type , packet1.lat , packet1.lon , packet1.alt , packet1.relative_alt , packet1.vx , packet1.vy , packet1.vz , packet1.covariance );
|
|
mavlink_msg_global_position_int_cov_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_global_position_int_cov_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.time_utc , packet1.estimator_type , packet1.lat , packet1.lon , packet1.alt , packet1.relative_alt , packet1.vx , packet1.vy , packet1.vz , packet1.covariance );
|
|
mavlink_msg_global_position_int_cov_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_global_position_int_cov_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_global_position_int_cov_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.time_utc , packet1.estimator_type , packet1.lat , packet1.lon , packet1.alt , packet1.relative_alt , packet1.vx , packet1.vy , packet1.vz , packet1.covariance );
|
|
mavlink_msg_global_position_int_cov_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_local_position_ned_cov(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_local_position_ned_cov_t packet_in = {
|
|
93372036854775807ULL,963497880,101.0,129.0,157.0,185.0,213.0,241.0,{ 269.0, 270.0, 271.0, 272.0, 273.0, 274.0, 275.0, 276.0, 277.0, 278.0, 279.0, 280.0, 281.0, 282.0, 283.0, 284.0, 285.0, 286.0, 287.0, 288.0, 289.0, 290.0, 291.0, 292.0, 293.0, 294.0, 295.0, 296.0, 297.0, 298.0, 299.0, 300.0, 301.0, 302.0, 303.0, 304.0 },33
|
|
};
|
|
mavlink_local_position_ned_cov_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_utc = packet_in.time_utc;
|
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
packet1.x = packet_in.x;
|
|
packet1.y = packet_in.y;
|
|
packet1.z = packet_in.z;
|
|
packet1.vx = packet_in.vx;
|
|
packet1.vy = packet_in.vy;
|
|
packet1.vz = packet_in.vz;
|
|
packet1.estimator_type = packet_in.estimator_type;
|
|
|
|
mav_array_memcpy(packet1.covariance, packet_in.covariance, sizeof(float)*36);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_local_position_ned_cov_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_local_position_ned_cov_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_local_position_ned_cov_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.time_utc , packet1.estimator_type , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz , packet1.covariance );
|
|
mavlink_msg_local_position_ned_cov_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_local_position_ned_cov_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.time_utc , packet1.estimator_type , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz , packet1.covariance );
|
|
mavlink_msg_local_position_ned_cov_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_local_position_ned_cov_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_local_position_ned_cov_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.time_utc , packet1.estimator_type , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz , packet1.covariance );
|
|
mavlink_msg_local_position_ned_cov_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_rc_channels(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_rc_channels_t packet_in = {
|
|
963497464,17443,17547,17651,17755,17859,17963,18067,18171,18275,18379,18483,18587,18691,18795,18899,19003,19107,19211,125,192
|
|
};
|
|
mavlink_rc_channels_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
packet1.chan1_raw = packet_in.chan1_raw;
|
|
packet1.chan2_raw = packet_in.chan2_raw;
|
|
packet1.chan3_raw = packet_in.chan3_raw;
|
|
packet1.chan4_raw = packet_in.chan4_raw;
|
|
packet1.chan5_raw = packet_in.chan5_raw;
|
|
packet1.chan6_raw = packet_in.chan6_raw;
|
|
packet1.chan7_raw = packet_in.chan7_raw;
|
|
packet1.chan8_raw = packet_in.chan8_raw;
|
|
packet1.chan9_raw = packet_in.chan9_raw;
|
|
packet1.chan10_raw = packet_in.chan10_raw;
|
|
packet1.chan11_raw = packet_in.chan11_raw;
|
|
packet1.chan12_raw = packet_in.chan12_raw;
|
|
packet1.chan13_raw = packet_in.chan13_raw;
|
|
packet1.chan14_raw = packet_in.chan14_raw;
|
|
packet1.chan15_raw = packet_in.chan15_raw;
|
|
packet1.chan16_raw = packet_in.chan16_raw;
|
|
packet1.chan17_raw = packet_in.chan17_raw;
|
|
packet1.chan18_raw = packet_in.chan18_raw;
|
|
packet1.chancount = packet_in.chancount;
|
|
packet1.rssi = packet_in.rssi;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_rc_channels_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_rc_channels_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_rc_channels_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.chancount , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.chan9_raw , packet1.chan10_raw , packet1.chan11_raw , packet1.chan12_raw , packet1.chan13_raw , packet1.chan14_raw , packet1.chan15_raw , packet1.chan16_raw , packet1.chan17_raw , packet1.chan18_raw , packet1.rssi );
|
|
mavlink_msg_rc_channels_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_rc_channels_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.chancount , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.chan9_raw , packet1.chan10_raw , packet1.chan11_raw , packet1.chan12_raw , packet1.chan13_raw , packet1.chan14_raw , packet1.chan15_raw , packet1.chan16_raw , packet1.chan17_raw , packet1.chan18_raw , packet1.rssi );
|
|
mavlink_msg_rc_channels_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_rc_channels_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_rc_channels_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.chancount , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.chan9_raw , packet1.chan10_raw , packet1.chan11_raw , packet1.chan12_raw , packet1.chan13_raw , packet1.chan14_raw , packet1.chan15_raw , packet1.chan16_raw , packet1.chan17_raw , packet1.chan18_raw , packet1.rssi );
|
|
mavlink_msg_rc_channels_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_request_data_stream(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_request_data_stream_t packet_in = {
|
|
17235,139,206,17,84
|
|
};
|
|
mavlink_request_data_stream_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.req_message_rate = packet_in.req_message_rate;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
packet1.req_stream_id = packet_in.req_stream_id;
|
|
packet1.start_stop = packet_in.start_stop;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_request_data_stream_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_request_data_stream_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_request_data_stream_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.req_stream_id , packet1.req_message_rate , packet1.start_stop );
|
|
mavlink_msg_request_data_stream_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_request_data_stream_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.req_stream_id , packet1.req_message_rate , packet1.start_stop );
|
|
mavlink_msg_request_data_stream_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_request_data_stream_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_request_data_stream_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.req_stream_id , packet1.req_message_rate , packet1.start_stop );
|
|
mavlink_msg_request_data_stream_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_data_stream(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_data_stream_t packet_in = {
|
|
17235,139,206
|
|
};
|
|
mavlink_data_stream_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.message_rate = packet_in.message_rate;
|
|
packet1.stream_id = packet_in.stream_id;
|
|
packet1.on_off = packet_in.on_off;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_data_stream_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_data_stream_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_data_stream_pack(system_id, component_id, &msg , packet1.stream_id , packet1.message_rate , packet1.on_off );
|
|
mavlink_msg_data_stream_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_data_stream_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.stream_id , packet1.message_rate , packet1.on_off );
|
|
mavlink_msg_data_stream_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_data_stream_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_data_stream_send(MAVLINK_COMM_1 , packet1.stream_id , packet1.message_rate , packet1.on_off );
|
|
mavlink_msg_data_stream_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_manual_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_manual_control_t packet_in = {
|
|
17235,17339,17443,17547,17651,163
|
|
};
|
|
mavlink_manual_control_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.x = packet_in.x;
|
|
packet1.y = packet_in.y;
|
|
packet1.z = packet_in.z;
|
|
packet1.r = packet_in.r;
|
|
packet1.buttons = packet_in.buttons;
|
|
packet1.target = packet_in.target;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_manual_control_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_manual_control_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_manual_control_pack(system_id, component_id, &msg , packet1.target , packet1.x , packet1.y , packet1.z , packet1.r , packet1.buttons );
|
|
mavlink_msg_manual_control_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_manual_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target , packet1.x , packet1.y , packet1.z , packet1.r , packet1.buttons );
|
|
mavlink_msg_manual_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_manual_control_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_manual_control_send(MAVLINK_COMM_1 , packet1.target , packet1.x , packet1.y , packet1.z , packet1.r , packet1.buttons );
|
|
mavlink_msg_manual_control_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_rc_channels_override(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_rc_channels_override_t packet_in = {
|
|
17235,17339,17443,17547,17651,17755,17859,17963,53,120
|
|
};
|
|
mavlink_rc_channels_override_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.chan1_raw = packet_in.chan1_raw;
|
|
packet1.chan2_raw = packet_in.chan2_raw;
|
|
packet1.chan3_raw = packet_in.chan3_raw;
|
|
packet1.chan4_raw = packet_in.chan4_raw;
|
|
packet1.chan5_raw = packet_in.chan5_raw;
|
|
packet1.chan6_raw = packet_in.chan6_raw;
|
|
packet1.chan7_raw = packet_in.chan7_raw;
|
|
packet1.chan8_raw = packet_in.chan8_raw;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_rc_channels_override_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_rc_channels_override_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_rc_channels_override_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw );
|
|
mavlink_msg_rc_channels_override_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_rc_channels_override_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw );
|
|
mavlink_msg_rc_channels_override_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_rc_channels_override_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_rc_channels_override_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw );
|
|
mavlink_msg_rc_channels_override_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_mission_item_int(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_mission_item_int_t packet_in = {
|
|
17.0,45.0,73.0,101.0,963498296,963498504,185.0,18691,18795,101,168,235,46,113
|
|
};
|
|
mavlink_mission_item_int_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.param1 = packet_in.param1;
|
|
packet1.param2 = packet_in.param2;
|
|
packet1.param3 = packet_in.param3;
|
|
packet1.param4 = packet_in.param4;
|
|
packet1.x = packet_in.x;
|
|
packet1.y = packet_in.y;
|
|
packet1.z = packet_in.z;
|
|
packet1.seq = packet_in.seq;
|
|
packet1.command = packet_in.command;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
packet1.frame = packet_in.frame;
|
|
packet1.current = packet_in.current;
|
|
packet1.autocontinue = packet_in.autocontinue;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_item_int_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_mission_item_int_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_item_int_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.seq , packet1.frame , packet1.command , packet1.current , packet1.autocontinue , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.x , packet1.y , packet1.z );
|
|
mavlink_msg_mission_item_int_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_item_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.seq , packet1.frame , packet1.command , packet1.current , packet1.autocontinue , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.x , packet1.y , packet1.z );
|
|
mavlink_msg_mission_item_int_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_mission_item_int_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mission_item_int_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.seq , packet1.frame , packet1.command , packet1.current , packet1.autocontinue , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.x , packet1.y , packet1.z );
|
|
mavlink_msg_mission_item_int_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_vfr_hud(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_vfr_hud_t packet_in = {
|
|
17.0,45.0,73.0,101.0,18067,18171
|
|
};
|
|
mavlink_vfr_hud_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.airspeed = packet_in.airspeed;
|
|
packet1.groundspeed = packet_in.groundspeed;
|
|
packet1.alt = packet_in.alt;
|
|
packet1.climb = packet_in.climb;
|
|
packet1.heading = packet_in.heading;
|
|
packet1.throttle = packet_in.throttle;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_vfr_hud_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_vfr_hud_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_vfr_hud_pack(system_id, component_id, &msg , packet1.airspeed , packet1.groundspeed , packet1.heading , packet1.throttle , packet1.alt , packet1.climb );
|
|
mavlink_msg_vfr_hud_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_vfr_hud_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.airspeed , packet1.groundspeed , packet1.heading , packet1.throttle , packet1.alt , packet1.climb );
|
|
mavlink_msg_vfr_hud_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_vfr_hud_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_vfr_hud_send(MAVLINK_COMM_1 , packet1.airspeed , packet1.groundspeed , packet1.heading , packet1.throttle , packet1.alt , packet1.climb );
|
|
mavlink_msg_vfr_hud_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_command_int(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_command_int_t packet_in = {
|
|
17.0,45.0,73.0,101.0,963498296,963498504,185.0,18691,223,34,101,168,235
|
|
};
|
|
mavlink_command_int_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.param1 = packet_in.param1;
|
|
packet1.param2 = packet_in.param2;
|
|
packet1.param3 = packet_in.param3;
|
|
packet1.param4 = packet_in.param4;
|
|
packet1.x = packet_in.x;
|
|
packet1.y = packet_in.y;
|
|
packet1.z = packet_in.z;
|
|
packet1.command = packet_in.command;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
packet1.frame = packet_in.frame;
|
|
packet1.current = packet_in.current;
|
|
packet1.autocontinue = packet_in.autocontinue;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_command_int_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_command_int_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_command_int_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.frame , packet1.command , packet1.current , packet1.autocontinue , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.x , packet1.y , packet1.z );
|
|
mavlink_msg_command_int_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_command_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.frame , packet1.command , packet1.current , packet1.autocontinue , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.x , packet1.y , packet1.z );
|
|
mavlink_msg_command_int_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_command_int_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_command_int_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.frame , packet1.command , packet1.current , packet1.autocontinue , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.x , packet1.y , packet1.z );
|
|
mavlink_msg_command_int_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_command_long(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_command_long_t packet_in = {
|
|
17.0,45.0,73.0,101.0,129.0,157.0,185.0,18691,223,34,101
|
|
};
|
|
mavlink_command_long_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.param1 = packet_in.param1;
|
|
packet1.param2 = packet_in.param2;
|
|
packet1.param3 = packet_in.param3;
|
|
packet1.param4 = packet_in.param4;
|
|
packet1.param5 = packet_in.param5;
|
|
packet1.param6 = packet_in.param6;
|
|
packet1.param7 = packet_in.param7;
|
|
packet1.command = packet_in.command;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
packet1.confirmation = packet_in.confirmation;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_command_long_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_command_long_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_command_long_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.command , packet1.confirmation , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.param5 , packet1.param6 , packet1.param7 );
|
|
mavlink_msg_command_long_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_command_long_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.command , packet1.confirmation , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.param5 , packet1.param6 , packet1.param7 );
|
|
mavlink_msg_command_long_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_command_long_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_command_long_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.command , packet1.confirmation , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.param5 , packet1.param6 , packet1.param7 );
|
|
mavlink_msg_command_long_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_command_ack(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_command_ack_t packet_in = {
|
|
17235,139
|
|
};
|
|
mavlink_command_ack_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.command = packet_in.command;
|
|
packet1.result = packet_in.result;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_command_ack_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_command_ack_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_command_ack_pack(system_id, component_id, &msg , packet1.command , packet1.result );
|
|
mavlink_msg_command_ack_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_command_ack_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.command , packet1.result );
|
|
mavlink_msg_command_ack_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_command_ack_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_command_ack_send(MAVLINK_COMM_1 , packet1.command , packet1.result );
|
|
mavlink_msg_command_ack_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_manual_setpoint(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_manual_setpoint_t packet_in = {
|
|
963497464,45.0,73.0,101.0,129.0,65,132
|
|
};
|
|
mavlink_manual_setpoint_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
packet1.roll = packet_in.roll;
|
|
packet1.pitch = packet_in.pitch;
|
|
packet1.yaw = packet_in.yaw;
|
|
packet1.thrust = packet_in.thrust;
|
|
packet1.mode_switch = packet_in.mode_switch;
|
|
packet1.manual_override_switch = packet_in.manual_override_switch;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_manual_setpoint_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_manual_setpoint_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_manual_setpoint_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.mode_switch , packet1.manual_override_switch );
|
|
mavlink_msg_manual_setpoint_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_manual_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.mode_switch , packet1.manual_override_switch );
|
|
mavlink_msg_manual_setpoint_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_manual_setpoint_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_manual_setpoint_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.mode_switch , packet1.manual_override_switch );
|
|
mavlink_msg_manual_setpoint_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_set_attitude_target(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_attitude_target_t packet_in = {
|
|
963497464,{ 45.0, 46.0, 47.0, 48.0 },157.0,185.0,213.0,241.0,113,180,247
|
|
};
|
|
mavlink_set_attitude_target_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
packet1.body_roll_rate = packet_in.body_roll_rate;
|
|
packet1.body_pitch_rate = packet_in.body_pitch_rate;
|
|
packet1.body_yaw_rate = packet_in.body_yaw_rate;
|
|
packet1.thrust = packet_in.thrust;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
packet1.type_mask = packet_in.type_mask;
|
|
|
|
mav_array_memcpy(packet1.q, packet_in.q, sizeof(float)*4);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_attitude_target_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_set_attitude_target_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_attitude_target_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.target_system , packet1.target_component , packet1.type_mask , packet1.q , packet1.body_roll_rate , packet1.body_pitch_rate , packet1.body_yaw_rate , packet1.thrust );
|
|
mavlink_msg_set_attitude_target_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_attitude_target_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.target_system , packet1.target_component , packet1.type_mask , packet1.q , packet1.body_roll_rate , packet1.body_pitch_rate , packet1.body_yaw_rate , packet1.thrust );
|
|
mavlink_msg_set_attitude_target_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_attitude_target_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_attitude_target_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.target_system , packet1.target_component , packet1.type_mask , packet1.q , packet1.body_roll_rate , packet1.body_pitch_rate , packet1.body_yaw_rate , packet1.thrust );
|
|
mavlink_msg_set_attitude_target_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_attitude_target(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_attitude_target_t packet_in = {
|
|
963497464,{ 45.0, 46.0, 47.0, 48.0 },157.0,185.0,213.0,241.0,113
|
|
};
|
|
mavlink_attitude_target_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
packet1.body_roll_rate = packet_in.body_roll_rate;
|
|
packet1.body_pitch_rate = packet_in.body_pitch_rate;
|
|
packet1.body_yaw_rate = packet_in.body_yaw_rate;
|
|
packet1.thrust = packet_in.thrust;
|
|
packet1.type_mask = packet_in.type_mask;
|
|
|
|
mav_array_memcpy(packet1.q, packet_in.q, sizeof(float)*4);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_attitude_target_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_attitude_target_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_attitude_target_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.type_mask , packet1.q , packet1.body_roll_rate , packet1.body_pitch_rate , packet1.body_yaw_rate , packet1.thrust );
|
|
mavlink_msg_attitude_target_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_attitude_target_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.type_mask , packet1.q , packet1.body_roll_rate , packet1.body_pitch_rate , packet1.body_yaw_rate , packet1.thrust );
|
|
mavlink_msg_attitude_target_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_attitude_target_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_attitude_target_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.type_mask , packet1.q , packet1.body_roll_rate , packet1.body_pitch_rate , packet1.body_yaw_rate , packet1.thrust );
|
|
mavlink_msg_attitude_target_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_set_position_target_local_ned(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_position_target_local_ned_t packet_in = {
|
|
963497464,45.0,73.0,101.0,129.0,157.0,185.0,213.0,241.0,269.0,297.0,325.0,19731,27,94,161
|
|
};
|
|
mavlink_set_position_target_local_ned_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
packet1.x = packet_in.x;
|
|
packet1.y = packet_in.y;
|
|
packet1.z = packet_in.z;
|
|
packet1.vx = packet_in.vx;
|
|
packet1.vy = packet_in.vy;
|
|
packet1.vz = packet_in.vz;
|
|
packet1.afx = packet_in.afx;
|
|
packet1.afy = packet_in.afy;
|
|
packet1.afz = packet_in.afz;
|
|
packet1.yaw = packet_in.yaw;
|
|
packet1.yaw_rate = packet_in.yaw_rate;
|
|
packet1.type_mask = packet_in.type_mask;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
packet1.coordinate_frame = packet_in.coordinate_frame;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_position_target_local_ned_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_set_position_target_local_ned_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_position_target_local_ned_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.target_system , packet1.target_component , packet1.coordinate_frame , packet1.type_mask , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz , packet1.afx , packet1.afy , packet1.afz , packet1.yaw , packet1.yaw_rate );
|
|
mavlink_msg_set_position_target_local_ned_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_position_target_local_ned_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.target_system , packet1.target_component , packet1.coordinate_frame , packet1.type_mask , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz , packet1.afx , packet1.afy , packet1.afz , packet1.yaw , packet1.yaw_rate );
|
|
mavlink_msg_set_position_target_local_ned_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_position_target_local_ned_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_position_target_local_ned_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.target_system , packet1.target_component , packet1.coordinate_frame , packet1.type_mask , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz , packet1.afx , packet1.afy , packet1.afz , packet1.yaw , packet1.yaw_rate );
|
|
mavlink_msg_set_position_target_local_ned_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_position_target_local_ned(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_position_target_local_ned_t packet_in = {
|
|
963497464,45.0,73.0,101.0,129.0,157.0,185.0,213.0,241.0,269.0,297.0,325.0,19731,27
|
|
};
|
|
mavlink_position_target_local_ned_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
packet1.x = packet_in.x;
|
|
packet1.y = packet_in.y;
|
|
packet1.z = packet_in.z;
|
|
packet1.vx = packet_in.vx;
|
|
packet1.vy = packet_in.vy;
|
|
packet1.vz = packet_in.vz;
|
|
packet1.afx = packet_in.afx;
|
|
packet1.afy = packet_in.afy;
|
|
packet1.afz = packet_in.afz;
|
|
packet1.yaw = packet_in.yaw;
|
|
packet1.yaw_rate = packet_in.yaw_rate;
|
|
packet1.type_mask = packet_in.type_mask;
|
|
packet1.coordinate_frame = packet_in.coordinate_frame;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_position_target_local_ned_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_position_target_local_ned_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_position_target_local_ned_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.coordinate_frame , packet1.type_mask , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz , packet1.afx , packet1.afy , packet1.afz , packet1.yaw , packet1.yaw_rate );
|
|
mavlink_msg_position_target_local_ned_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_position_target_local_ned_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.coordinate_frame , packet1.type_mask , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz , packet1.afx , packet1.afy , packet1.afz , packet1.yaw , packet1.yaw_rate );
|
|
mavlink_msg_position_target_local_ned_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_position_target_local_ned_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_position_target_local_ned_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.coordinate_frame , packet1.type_mask , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz , packet1.afx , packet1.afy , packet1.afz , packet1.yaw , packet1.yaw_rate );
|
|
mavlink_msg_position_target_local_ned_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_set_position_target_global_int(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_position_target_global_int_t packet_in = {
|
|
963497464,963497672,963497880,101.0,129.0,157.0,185.0,213.0,241.0,269.0,297.0,325.0,19731,27,94,161
|
|
};
|
|
mavlink_set_position_target_global_int_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
packet1.lat_int = packet_in.lat_int;
|
|
packet1.lon_int = packet_in.lon_int;
|
|
packet1.alt = packet_in.alt;
|
|
packet1.vx = packet_in.vx;
|
|
packet1.vy = packet_in.vy;
|
|
packet1.vz = packet_in.vz;
|
|
packet1.afx = packet_in.afx;
|
|
packet1.afy = packet_in.afy;
|
|
packet1.afz = packet_in.afz;
|
|
packet1.yaw = packet_in.yaw;
|
|
packet1.yaw_rate = packet_in.yaw_rate;
|
|
packet1.type_mask = packet_in.type_mask;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
packet1.coordinate_frame = packet_in.coordinate_frame;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_position_target_global_int_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_set_position_target_global_int_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_position_target_global_int_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.target_system , packet1.target_component , packet1.coordinate_frame , packet1.type_mask , packet1.lat_int , packet1.lon_int , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.afx , packet1.afy , packet1.afz , packet1.yaw , packet1.yaw_rate );
|
|
mavlink_msg_set_position_target_global_int_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_position_target_global_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.target_system , packet1.target_component , packet1.coordinate_frame , packet1.type_mask , packet1.lat_int , packet1.lon_int , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.afx , packet1.afy , packet1.afz , packet1.yaw , packet1.yaw_rate );
|
|
mavlink_msg_set_position_target_global_int_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_position_target_global_int_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_position_target_global_int_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.target_system , packet1.target_component , packet1.coordinate_frame , packet1.type_mask , packet1.lat_int , packet1.lon_int , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.afx , packet1.afy , packet1.afz , packet1.yaw , packet1.yaw_rate );
|
|
mavlink_msg_set_position_target_global_int_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_position_target_global_int(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_position_target_global_int_t packet_in = {
|
|
963497464,963497672,963497880,101.0,129.0,157.0,185.0,213.0,241.0,269.0,297.0,325.0,19731,27
|
|
};
|
|
mavlink_position_target_global_int_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
packet1.lat_int = packet_in.lat_int;
|
|
packet1.lon_int = packet_in.lon_int;
|
|
packet1.alt = packet_in.alt;
|
|
packet1.vx = packet_in.vx;
|
|
packet1.vy = packet_in.vy;
|
|
packet1.vz = packet_in.vz;
|
|
packet1.afx = packet_in.afx;
|
|
packet1.afy = packet_in.afy;
|
|
packet1.afz = packet_in.afz;
|
|
packet1.yaw = packet_in.yaw;
|
|
packet1.yaw_rate = packet_in.yaw_rate;
|
|
packet1.type_mask = packet_in.type_mask;
|
|
packet1.coordinate_frame = packet_in.coordinate_frame;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_position_target_global_int_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_position_target_global_int_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_position_target_global_int_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.coordinate_frame , packet1.type_mask , packet1.lat_int , packet1.lon_int , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.afx , packet1.afy , packet1.afz , packet1.yaw , packet1.yaw_rate );
|
|
mavlink_msg_position_target_global_int_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_position_target_global_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.coordinate_frame , packet1.type_mask , packet1.lat_int , packet1.lon_int , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.afx , packet1.afy , packet1.afz , packet1.yaw , packet1.yaw_rate );
|
|
mavlink_msg_position_target_global_int_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_position_target_global_int_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_position_target_global_int_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.coordinate_frame , packet1.type_mask , packet1.lat_int , packet1.lon_int , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.afx , packet1.afy , packet1.afz , packet1.yaw , packet1.yaw_rate );
|
|
mavlink_msg_position_target_global_int_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_local_position_ned_system_global_offset(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_local_position_ned_system_global_offset_t packet_in = {
|
|
963497464,45.0,73.0,101.0,129.0,157.0,185.0
|
|
};
|
|
mavlink_local_position_ned_system_global_offset_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
packet1.x = packet_in.x;
|
|
packet1.y = packet_in.y;
|
|
packet1.z = packet_in.z;
|
|
packet1.roll = packet_in.roll;
|
|
packet1.pitch = packet_in.pitch;
|
|
packet1.yaw = packet_in.yaw;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_local_position_ned_system_global_offset_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_local_position_ned_system_global_offset_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_local_position_ned_system_global_offset_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
|
|
mavlink_msg_local_position_ned_system_global_offset_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_local_position_ned_system_global_offset_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
|
|
mavlink_msg_local_position_ned_system_global_offset_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_local_position_ned_system_global_offset_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_local_position_ned_system_global_offset_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
|
|
mavlink_msg_local_position_ned_system_global_offset_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_hil_state(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_hil_state_t packet_in = {
|
|
93372036854775807ULL,73.0,101.0,129.0,157.0,185.0,213.0,963499128,963499336,963499544,19523,19627,19731,19835,19939,20043
|
|
};
|
|
mavlink_hil_state_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_usec = packet_in.time_usec;
|
|
packet1.roll = packet_in.roll;
|
|
packet1.pitch = packet_in.pitch;
|
|
packet1.yaw = packet_in.yaw;
|
|
packet1.rollspeed = packet_in.rollspeed;
|
|
packet1.pitchspeed = packet_in.pitchspeed;
|
|
packet1.yawspeed = packet_in.yawspeed;
|
|
packet1.lat = packet_in.lat;
|
|
packet1.lon = packet_in.lon;
|
|
packet1.alt = packet_in.alt;
|
|
packet1.vx = packet_in.vx;
|
|
packet1.vy = packet_in.vy;
|
|
packet1.vz = packet_in.vz;
|
|
packet1.xacc = packet_in.xacc;
|
|
packet1.yacc = packet_in.yacc;
|
|
packet1.zacc = packet_in.zacc;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_state_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_hil_state_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_state_pack(system_id, component_id, &msg , packet1.time_usec , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.xacc , packet1.yacc , packet1.zacc );
|
|
mavlink_msg_hil_state_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_state_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.xacc , packet1.yacc , packet1.zacc );
|
|
mavlink_msg_hil_state_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_hil_state_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_state_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.xacc , packet1.yacc , packet1.zacc );
|
|
mavlink_msg_hil_state_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_hil_controls(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_hil_controls_t packet_in = {
|
|
93372036854775807ULL,73.0,101.0,129.0,157.0,185.0,213.0,241.0,269.0,125,192
|
|
};
|
|
mavlink_hil_controls_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_usec = packet_in.time_usec;
|
|
packet1.roll_ailerons = packet_in.roll_ailerons;
|
|
packet1.pitch_elevator = packet_in.pitch_elevator;
|
|
packet1.yaw_rudder = packet_in.yaw_rudder;
|
|
packet1.throttle = packet_in.throttle;
|
|
packet1.aux1 = packet_in.aux1;
|
|
packet1.aux2 = packet_in.aux2;
|
|
packet1.aux3 = packet_in.aux3;
|
|
packet1.aux4 = packet_in.aux4;
|
|
packet1.mode = packet_in.mode;
|
|
packet1.nav_mode = packet_in.nav_mode;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_controls_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_hil_controls_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_controls_pack(system_id, component_id, &msg , packet1.time_usec , packet1.roll_ailerons , packet1.pitch_elevator , packet1.yaw_rudder , packet1.throttle , packet1.aux1 , packet1.aux2 , packet1.aux3 , packet1.aux4 , packet1.mode , packet1.nav_mode );
|
|
mavlink_msg_hil_controls_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_controls_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.roll_ailerons , packet1.pitch_elevator , packet1.yaw_rudder , packet1.throttle , packet1.aux1 , packet1.aux2 , packet1.aux3 , packet1.aux4 , packet1.mode , packet1.nav_mode );
|
|
mavlink_msg_hil_controls_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_hil_controls_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_controls_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.roll_ailerons , packet1.pitch_elevator , packet1.yaw_rudder , packet1.throttle , packet1.aux1 , packet1.aux2 , packet1.aux3 , packet1.aux4 , packet1.mode , packet1.nav_mode );
|
|
mavlink_msg_hil_controls_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_hil_rc_inputs_raw(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_hil_rc_inputs_raw_t packet_in = {
|
|
93372036854775807ULL,17651,17755,17859,17963,18067,18171,18275,18379,18483,18587,18691,18795,101
|
|
};
|
|
mavlink_hil_rc_inputs_raw_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_usec = packet_in.time_usec;
|
|
packet1.chan1_raw = packet_in.chan1_raw;
|
|
packet1.chan2_raw = packet_in.chan2_raw;
|
|
packet1.chan3_raw = packet_in.chan3_raw;
|
|
packet1.chan4_raw = packet_in.chan4_raw;
|
|
packet1.chan5_raw = packet_in.chan5_raw;
|
|
packet1.chan6_raw = packet_in.chan6_raw;
|
|
packet1.chan7_raw = packet_in.chan7_raw;
|
|
packet1.chan8_raw = packet_in.chan8_raw;
|
|
packet1.chan9_raw = packet_in.chan9_raw;
|
|
packet1.chan10_raw = packet_in.chan10_raw;
|
|
packet1.chan11_raw = packet_in.chan11_raw;
|
|
packet1.chan12_raw = packet_in.chan12_raw;
|
|
packet1.rssi = packet_in.rssi;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_rc_inputs_raw_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_hil_rc_inputs_raw_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_rc_inputs_raw_pack(system_id, component_id, &msg , packet1.time_usec , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.chan9_raw , packet1.chan10_raw , packet1.chan11_raw , packet1.chan12_raw , packet1.rssi );
|
|
mavlink_msg_hil_rc_inputs_raw_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_rc_inputs_raw_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.chan9_raw , packet1.chan10_raw , packet1.chan11_raw , packet1.chan12_raw , packet1.rssi );
|
|
mavlink_msg_hil_rc_inputs_raw_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_hil_rc_inputs_raw_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_rc_inputs_raw_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.chan9_raw , packet1.chan10_raw , packet1.chan11_raw , packet1.chan12_raw , packet1.rssi );
|
|
mavlink_msg_hil_rc_inputs_raw_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_optical_flow(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_optical_flow_t packet_in = {
|
|
93372036854775807ULL,73.0,101.0,129.0,18275,18379,77,144
|
|
};
|
|
mavlink_optical_flow_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_usec = packet_in.time_usec;
|
|
packet1.flow_comp_m_x = packet_in.flow_comp_m_x;
|
|
packet1.flow_comp_m_y = packet_in.flow_comp_m_y;
|
|
packet1.ground_distance = packet_in.ground_distance;
|
|
packet1.flow_x = packet_in.flow_x;
|
|
packet1.flow_y = packet_in.flow_y;
|
|
packet1.sensor_id = packet_in.sensor_id;
|
|
packet1.quality = packet_in.quality;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_optical_flow_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_optical_flow_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_optical_flow_pack(system_id, component_id, &msg , packet1.time_usec , packet1.sensor_id , packet1.flow_x , packet1.flow_y , packet1.flow_comp_m_x , packet1.flow_comp_m_y , packet1.quality , packet1.ground_distance );
|
|
mavlink_msg_optical_flow_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_optical_flow_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.sensor_id , packet1.flow_x , packet1.flow_y , packet1.flow_comp_m_x , packet1.flow_comp_m_y , packet1.quality , packet1.ground_distance );
|
|
mavlink_msg_optical_flow_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_optical_flow_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_optical_flow_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.sensor_id , packet1.flow_x , packet1.flow_y , packet1.flow_comp_m_x , packet1.flow_comp_m_y , packet1.quality , packet1.ground_distance );
|
|
mavlink_msg_optical_flow_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_global_vision_position_estimate(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_global_vision_position_estimate_t packet_in = {
|
|
93372036854775807ULL,73.0,101.0,129.0,157.0,185.0,213.0
|
|
};
|
|
mavlink_global_vision_position_estimate_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.usec = packet_in.usec;
|
|
packet1.x = packet_in.x;
|
|
packet1.y = packet_in.y;
|
|
packet1.z = packet_in.z;
|
|
packet1.roll = packet_in.roll;
|
|
packet1.pitch = packet_in.pitch;
|
|
packet1.yaw = packet_in.yaw;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_global_vision_position_estimate_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_global_vision_position_estimate_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_global_vision_position_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
|
|
mavlink_msg_global_vision_position_estimate_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_global_vision_position_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
|
|
mavlink_msg_global_vision_position_estimate_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_global_vision_position_estimate_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_global_vision_position_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
|
|
mavlink_msg_global_vision_position_estimate_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_vision_position_estimate(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_vision_position_estimate_t packet_in = {
|
|
93372036854775807ULL,73.0,101.0,129.0,157.0,185.0,213.0
|
|
};
|
|
mavlink_vision_position_estimate_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.usec = packet_in.usec;
|
|
packet1.x = packet_in.x;
|
|
packet1.y = packet_in.y;
|
|
packet1.z = packet_in.z;
|
|
packet1.roll = packet_in.roll;
|
|
packet1.pitch = packet_in.pitch;
|
|
packet1.yaw = packet_in.yaw;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_vision_position_estimate_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_vision_position_estimate_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_vision_position_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
|
|
mavlink_msg_vision_position_estimate_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_vision_position_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
|
|
mavlink_msg_vision_position_estimate_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_vision_position_estimate_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_vision_position_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
|
|
mavlink_msg_vision_position_estimate_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_vision_speed_estimate(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_vision_speed_estimate_t packet_in = {
|
|
93372036854775807ULL,73.0,101.0,129.0
|
|
};
|
|
mavlink_vision_speed_estimate_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.usec = packet_in.usec;
|
|
packet1.x = packet_in.x;
|
|
packet1.y = packet_in.y;
|
|
packet1.z = packet_in.z;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_vision_speed_estimate_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_vision_speed_estimate_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_vision_speed_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z );
|
|
mavlink_msg_vision_speed_estimate_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_vision_speed_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z );
|
|
mavlink_msg_vision_speed_estimate_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_vision_speed_estimate_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_vision_speed_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z );
|
|
mavlink_msg_vision_speed_estimate_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_vicon_position_estimate(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_vicon_position_estimate_t packet_in = {
|
|
93372036854775807ULL,73.0,101.0,129.0,157.0,185.0,213.0
|
|
};
|
|
mavlink_vicon_position_estimate_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.usec = packet_in.usec;
|
|
packet1.x = packet_in.x;
|
|
packet1.y = packet_in.y;
|
|
packet1.z = packet_in.z;
|
|
packet1.roll = packet_in.roll;
|
|
packet1.pitch = packet_in.pitch;
|
|
packet1.yaw = packet_in.yaw;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_vicon_position_estimate_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_vicon_position_estimate_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_vicon_position_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
|
|
mavlink_msg_vicon_position_estimate_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_vicon_position_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
|
|
mavlink_msg_vicon_position_estimate_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_vicon_position_estimate_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_vicon_position_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw );
|
|
mavlink_msg_vicon_position_estimate_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_highres_imu(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_highres_imu_t packet_in = {
|
|
93372036854775807ULL,73.0,101.0,129.0,157.0,185.0,213.0,241.0,269.0,297.0,325.0,353.0,381.0,409.0,20355
|
|
};
|
|
mavlink_highres_imu_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_usec = packet_in.time_usec;
|
|
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;
|
|
packet1.xmag = packet_in.xmag;
|
|
packet1.ymag = packet_in.ymag;
|
|
packet1.zmag = packet_in.zmag;
|
|
packet1.abs_pressure = packet_in.abs_pressure;
|
|
packet1.diff_pressure = packet_in.diff_pressure;
|
|
packet1.pressure_alt = packet_in.pressure_alt;
|
|
packet1.temperature = packet_in.temperature;
|
|
packet1.fields_updated = packet_in.fields_updated;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_highres_imu_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_highres_imu_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_highres_imu_pack(system_id, component_id, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature , packet1.fields_updated );
|
|
mavlink_msg_highres_imu_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_highres_imu_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature , packet1.fields_updated );
|
|
mavlink_msg_highres_imu_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_highres_imu_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_highres_imu_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature , packet1.fields_updated );
|
|
mavlink_msg_highres_imu_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_optical_flow_rad(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_optical_flow_rad_t packet_in = {
|
|
93372036854775807ULL,963497880,101.0,129.0,157.0,185.0,213.0,963499128,269.0,19315,3,70
|
|
};
|
|
mavlink_optical_flow_rad_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_usec = packet_in.time_usec;
|
|
packet1.integration_time_us = packet_in.integration_time_us;
|
|
packet1.integrated_x = packet_in.integrated_x;
|
|
packet1.integrated_y = packet_in.integrated_y;
|
|
packet1.integrated_xgyro = packet_in.integrated_xgyro;
|
|
packet1.integrated_ygyro = packet_in.integrated_ygyro;
|
|
packet1.integrated_zgyro = packet_in.integrated_zgyro;
|
|
packet1.time_delta_distance_us = packet_in.time_delta_distance_us;
|
|
packet1.distance = packet_in.distance;
|
|
packet1.temperature = packet_in.temperature;
|
|
packet1.sensor_id = packet_in.sensor_id;
|
|
packet1.quality = packet_in.quality;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_optical_flow_rad_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_optical_flow_rad_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_optical_flow_rad_pack(system_id, component_id, &msg , packet1.time_usec , packet1.sensor_id , packet1.integration_time_us , packet1.integrated_x , packet1.integrated_y , packet1.integrated_xgyro , packet1.integrated_ygyro , packet1.integrated_zgyro , packet1.temperature , packet1.quality , packet1.time_delta_distance_us , packet1.distance );
|
|
mavlink_msg_optical_flow_rad_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_optical_flow_rad_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.sensor_id , packet1.integration_time_us , packet1.integrated_x , packet1.integrated_y , packet1.integrated_xgyro , packet1.integrated_ygyro , packet1.integrated_zgyro , packet1.temperature , packet1.quality , packet1.time_delta_distance_us , packet1.distance );
|
|
mavlink_msg_optical_flow_rad_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_optical_flow_rad_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_optical_flow_rad_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.sensor_id , packet1.integration_time_us , packet1.integrated_x , packet1.integrated_y , packet1.integrated_xgyro , packet1.integrated_ygyro , packet1.integrated_zgyro , packet1.temperature , packet1.quality , packet1.time_delta_distance_us , packet1.distance );
|
|
mavlink_msg_optical_flow_rad_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_hil_sensor(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_hil_sensor_t packet_in = {
|
|
93372036854775807ULL,73.0,101.0,129.0,157.0,185.0,213.0,241.0,269.0,297.0,325.0,353.0,381.0,409.0,963500584
|
|
};
|
|
mavlink_hil_sensor_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_usec = packet_in.time_usec;
|
|
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;
|
|
packet1.xmag = packet_in.xmag;
|
|
packet1.ymag = packet_in.ymag;
|
|
packet1.zmag = packet_in.zmag;
|
|
packet1.abs_pressure = packet_in.abs_pressure;
|
|
packet1.diff_pressure = packet_in.diff_pressure;
|
|
packet1.pressure_alt = packet_in.pressure_alt;
|
|
packet1.temperature = packet_in.temperature;
|
|
packet1.fields_updated = packet_in.fields_updated;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_sensor_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_hil_sensor_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_sensor_pack(system_id, component_id, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature , packet1.fields_updated );
|
|
mavlink_msg_hil_sensor_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_sensor_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature , packet1.fields_updated );
|
|
mavlink_msg_hil_sensor_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_hil_sensor_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_sensor_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature , packet1.fields_updated );
|
|
mavlink_msg_hil_sensor_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_sim_state(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_sim_state_t packet_in = {
|
|
17.0,45.0,73.0,101.0,129.0,157.0,185.0,213.0,241.0,269.0,297.0,325.0,353.0,381.0,409.0,437.0,465.0,493.0,521.0,549.0,577.0
|
|
};
|
|
mavlink_sim_state_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.q1 = packet_in.q1;
|
|
packet1.q2 = packet_in.q2;
|
|
packet1.q3 = packet_in.q3;
|
|
packet1.q4 = packet_in.q4;
|
|
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;
|
|
packet1.lat = packet_in.lat;
|
|
packet1.lon = packet_in.lon;
|
|
packet1.alt = packet_in.alt;
|
|
packet1.std_dev_horz = packet_in.std_dev_horz;
|
|
packet1.std_dev_vert = packet_in.std_dev_vert;
|
|
packet1.vn = packet_in.vn;
|
|
packet1.ve = packet_in.ve;
|
|
packet1.vd = packet_in.vd;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_sim_state_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_sim_state_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_sim_state_pack(system_id, component_id, &msg , packet1.q1 , packet1.q2 , packet1.q3 , packet1.q4 , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.lat , packet1.lon , packet1.alt , packet1.std_dev_horz , packet1.std_dev_vert , packet1.vn , packet1.ve , packet1.vd );
|
|
mavlink_msg_sim_state_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_sim_state_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.q1 , packet1.q2 , packet1.q3 , packet1.q4 , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.lat , packet1.lon , packet1.alt , packet1.std_dev_horz , packet1.std_dev_vert , packet1.vn , packet1.ve , packet1.vd );
|
|
mavlink_msg_sim_state_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_sim_state_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_sim_state_send(MAVLINK_COMM_1 , packet1.q1 , packet1.q2 , packet1.q3 , packet1.q4 , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.lat , packet1.lon , packet1.alt , packet1.std_dev_horz , packet1.std_dev_vert , packet1.vn , packet1.ve , packet1.vd );
|
|
mavlink_msg_sim_state_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_radio_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_radio_status_t packet_in = {
|
|
17235,17339,17,84,151,218,29
|
|
};
|
|
mavlink_radio_status_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.rxerrors = packet_in.rxerrors;
|
|
packet1.fixed = packet_in.fixed;
|
|
packet1.rssi = packet_in.rssi;
|
|
packet1.remrssi = packet_in.remrssi;
|
|
packet1.txbuf = packet_in.txbuf;
|
|
packet1.noise = packet_in.noise;
|
|
packet1.remnoise = packet_in.remnoise;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_radio_status_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_radio_status_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_radio_status_pack(system_id, component_id, &msg , packet1.rssi , packet1.remrssi , packet1.txbuf , packet1.noise , packet1.remnoise , packet1.rxerrors , packet1.fixed );
|
|
mavlink_msg_radio_status_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_radio_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.rssi , packet1.remrssi , packet1.txbuf , packet1.noise , packet1.remnoise , packet1.rxerrors , packet1.fixed );
|
|
mavlink_msg_radio_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_radio_status_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_radio_status_send(MAVLINK_COMM_1 , packet1.rssi , packet1.remrssi , packet1.txbuf , packet1.noise , packet1.remnoise , packet1.rxerrors , packet1.fixed );
|
|
mavlink_msg_radio_status_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_file_transfer_protocol(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_file_transfer_protocol_t packet_in = {
|
|
5,72,139,{ 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200 }
|
|
};
|
|
mavlink_file_transfer_protocol_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.target_network = packet_in.target_network;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
|
|
mav_array_memcpy(packet1.payload, packet_in.payload, sizeof(uint8_t)*251);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_file_transfer_protocol_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_file_transfer_protocol_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_file_transfer_protocol_pack(system_id, component_id, &msg , packet1.target_network , packet1.target_system , packet1.target_component , packet1.payload );
|
|
mavlink_msg_file_transfer_protocol_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_file_transfer_protocol_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_network , packet1.target_system , packet1.target_component , packet1.payload );
|
|
mavlink_msg_file_transfer_protocol_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_file_transfer_protocol_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_file_transfer_protocol_send(MAVLINK_COMM_1 , packet1.target_network , packet1.target_system , packet1.target_component , packet1.payload );
|
|
mavlink_msg_file_transfer_protocol_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_timesync(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_timesync_t packet_in = {
|
|
93372036854775807LL,93372036854776311LL
|
|
};
|
|
mavlink_timesync_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.tc1 = packet_in.tc1;
|
|
packet1.ts1 = packet_in.ts1;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_timesync_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_timesync_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_timesync_pack(system_id, component_id, &msg , packet1.tc1 , packet1.ts1 );
|
|
mavlink_msg_timesync_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_timesync_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.tc1 , packet1.ts1 );
|
|
mavlink_msg_timesync_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_timesync_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_timesync_send(MAVLINK_COMM_1 , packet1.tc1 , packet1.ts1 );
|
|
mavlink_msg_timesync_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_hil_gps(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_hil_gps_t packet_in = {
|
|
93372036854775807ULL,963497880,963498088,963498296,18275,18379,18483,18587,18691,18795,18899,235,46
|
|
};
|
|
mavlink_hil_gps_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_usec = packet_in.time_usec;
|
|
packet1.lat = packet_in.lat;
|
|
packet1.lon = packet_in.lon;
|
|
packet1.alt = packet_in.alt;
|
|
packet1.eph = packet_in.eph;
|
|
packet1.epv = packet_in.epv;
|
|
packet1.vel = packet_in.vel;
|
|
packet1.vn = packet_in.vn;
|
|
packet1.ve = packet_in.ve;
|
|
packet1.vd = packet_in.vd;
|
|
packet1.cog = packet_in.cog;
|
|
packet1.fix_type = packet_in.fix_type;
|
|
packet1.satellites_visible = packet_in.satellites_visible;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_gps_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_hil_gps_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_gps_pack(system_id, component_id, &msg , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.vn , packet1.ve , packet1.vd , packet1.cog , packet1.satellites_visible );
|
|
mavlink_msg_hil_gps_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_gps_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.vn , packet1.ve , packet1.vd , packet1.cog , packet1.satellites_visible );
|
|
mavlink_msg_hil_gps_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_hil_gps_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_gps_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.vn , packet1.ve , packet1.vd , packet1.cog , packet1.satellites_visible );
|
|
mavlink_msg_hil_gps_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_hil_optical_flow(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_hil_optical_flow_t packet_in = {
|
|
93372036854775807ULL,963497880,101.0,129.0,157.0,185.0,213.0,963499128,269.0,19315,3,70
|
|
};
|
|
mavlink_hil_optical_flow_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_usec = packet_in.time_usec;
|
|
packet1.integration_time_us = packet_in.integration_time_us;
|
|
packet1.integrated_x = packet_in.integrated_x;
|
|
packet1.integrated_y = packet_in.integrated_y;
|
|
packet1.integrated_xgyro = packet_in.integrated_xgyro;
|
|
packet1.integrated_ygyro = packet_in.integrated_ygyro;
|
|
packet1.integrated_zgyro = packet_in.integrated_zgyro;
|
|
packet1.time_delta_distance_us = packet_in.time_delta_distance_us;
|
|
packet1.distance = packet_in.distance;
|
|
packet1.temperature = packet_in.temperature;
|
|
packet1.sensor_id = packet_in.sensor_id;
|
|
packet1.quality = packet_in.quality;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_optical_flow_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_hil_optical_flow_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_optical_flow_pack(system_id, component_id, &msg , packet1.time_usec , packet1.sensor_id , packet1.integration_time_us , packet1.integrated_x , packet1.integrated_y , packet1.integrated_xgyro , packet1.integrated_ygyro , packet1.integrated_zgyro , packet1.temperature , packet1.quality , packet1.time_delta_distance_us , packet1.distance );
|
|
mavlink_msg_hil_optical_flow_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_optical_flow_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.sensor_id , packet1.integration_time_us , packet1.integrated_x , packet1.integrated_y , packet1.integrated_xgyro , packet1.integrated_ygyro , packet1.integrated_zgyro , packet1.temperature , packet1.quality , packet1.time_delta_distance_us , packet1.distance );
|
|
mavlink_msg_hil_optical_flow_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_hil_optical_flow_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_optical_flow_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.sensor_id , packet1.integration_time_us , packet1.integrated_x , packet1.integrated_y , packet1.integrated_xgyro , packet1.integrated_ygyro , packet1.integrated_zgyro , packet1.temperature , packet1.quality , packet1.time_delta_distance_us , packet1.distance );
|
|
mavlink_msg_hil_optical_flow_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_hil_state_quaternion(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_hil_state_quaternion_t packet_in = {
|
|
93372036854775807ULL,{ 73.0, 74.0, 75.0, 76.0 },185.0,213.0,241.0,963499336,963499544,963499752,19731,19835,19939,20043,20147,20251,20355,20459
|
|
};
|
|
mavlink_hil_state_quaternion_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_usec = packet_in.time_usec;
|
|
packet1.rollspeed = packet_in.rollspeed;
|
|
packet1.pitchspeed = packet_in.pitchspeed;
|
|
packet1.yawspeed = packet_in.yawspeed;
|
|
packet1.lat = packet_in.lat;
|
|
packet1.lon = packet_in.lon;
|
|
packet1.alt = packet_in.alt;
|
|
packet1.vx = packet_in.vx;
|
|
packet1.vy = packet_in.vy;
|
|
packet1.vz = packet_in.vz;
|
|
packet1.ind_airspeed = packet_in.ind_airspeed;
|
|
packet1.true_airspeed = packet_in.true_airspeed;
|
|
packet1.xacc = packet_in.xacc;
|
|
packet1.yacc = packet_in.yacc;
|
|
packet1.zacc = packet_in.zacc;
|
|
|
|
mav_array_memcpy(packet1.attitude_quaternion, packet_in.attitude_quaternion, sizeof(float)*4);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_state_quaternion_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_hil_state_quaternion_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_state_quaternion_pack(system_id, component_id, &msg , packet1.time_usec , packet1.attitude_quaternion , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.ind_airspeed , packet1.true_airspeed , packet1.xacc , packet1.yacc , packet1.zacc );
|
|
mavlink_msg_hil_state_quaternion_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_state_quaternion_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.attitude_quaternion , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.ind_airspeed , packet1.true_airspeed , packet1.xacc , packet1.yacc , packet1.zacc );
|
|
mavlink_msg_hil_state_quaternion_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_hil_state_quaternion_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hil_state_quaternion_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.attitude_quaternion , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.ind_airspeed , packet1.true_airspeed , packet1.xacc , packet1.yacc , packet1.zacc );
|
|
mavlink_msg_hil_state_quaternion_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_scaled_imu2(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_scaled_imu2_t packet_in = {
|
|
963497464,17443,17547,17651,17755,17859,17963,18067,18171,18275
|
|
};
|
|
mavlink_scaled_imu2_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
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;
|
|
packet1.xmag = packet_in.xmag;
|
|
packet1.ymag = packet_in.ymag;
|
|
packet1.zmag = packet_in.zmag;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_scaled_imu2_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_scaled_imu2_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_scaled_imu2_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
|
|
mavlink_msg_scaled_imu2_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_scaled_imu2_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
|
|
mavlink_msg_scaled_imu2_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_scaled_imu2_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_scaled_imu2_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
|
|
mavlink_msg_scaled_imu2_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_log_request_list(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_log_request_list_t packet_in = {
|
|
17235,17339,17,84
|
|
};
|
|
mavlink_log_request_list_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.start = packet_in.start;
|
|
packet1.end = packet_in.end;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_log_request_list_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_log_request_list_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_log_request_list_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.start , packet1.end );
|
|
mavlink_msg_log_request_list_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_log_request_list_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.start , packet1.end );
|
|
mavlink_msg_log_request_list_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_log_request_list_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_log_request_list_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.start , packet1.end );
|
|
mavlink_msg_log_request_list_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_log_entry(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_log_entry_t packet_in = {
|
|
963497464,963497672,17651,17755,17859
|
|
};
|
|
mavlink_log_entry_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_utc = packet_in.time_utc;
|
|
packet1.size = packet_in.size;
|
|
packet1.id = packet_in.id;
|
|
packet1.num_logs = packet_in.num_logs;
|
|
packet1.last_log_num = packet_in.last_log_num;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_log_entry_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_log_entry_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_log_entry_pack(system_id, component_id, &msg , packet1.id , packet1.num_logs , packet1.last_log_num , packet1.time_utc , packet1.size );
|
|
mavlink_msg_log_entry_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_log_entry_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.id , packet1.num_logs , packet1.last_log_num , packet1.time_utc , packet1.size );
|
|
mavlink_msg_log_entry_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_log_entry_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_log_entry_send(MAVLINK_COMM_1 , packet1.id , packet1.num_logs , packet1.last_log_num , packet1.time_utc , packet1.size );
|
|
mavlink_msg_log_entry_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_log_request_data(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_log_request_data_t packet_in = {
|
|
963497464,963497672,17651,163,230
|
|
};
|
|
mavlink_log_request_data_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.ofs = packet_in.ofs;
|
|
packet1.count = packet_in.count;
|
|
packet1.id = packet_in.id;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_log_request_data_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_log_request_data_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_log_request_data_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.id , packet1.ofs , packet1.count );
|
|
mavlink_msg_log_request_data_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_log_request_data_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.id , packet1.ofs , packet1.count );
|
|
mavlink_msg_log_request_data_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_log_request_data_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_log_request_data_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.id , packet1.ofs , packet1.count );
|
|
mavlink_msg_log_request_data_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_log_data(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_log_data_t packet_in = {
|
|
963497464,17443,151,{ 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51 }
|
|
};
|
|
mavlink_log_data_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.ofs = packet_in.ofs;
|
|
packet1.id = packet_in.id;
|
|
packet1.count = packet_in.count;
|
|
|
|
mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*90);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_log_data_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_log_data_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_log_data_pack(system_id, component_id, &msg , packet1.id , packet1.ofs , packet1.count , packet1.data );
|
|
mavlink_msg_log_data_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_log_data_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.id , packet1.ofs , packet1.count , packet1.data );
|
|
mavlink_msg_log_data_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_log_data_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_log_data_send(MAVLINK_COMM_1 , packet1.id , packet1.ofs , packet1.count , packet1.data );
|
|
mavlink_msg_log_data_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_log_erase(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_log_erase_t packet_in = {
|
|
5,72
|
|
};
|
|
mavlink_log_erase_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_log_erase_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_log_erase_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_log_erase_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component );
|
|
mavlink_msg_log_erase_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_log_erase_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component );
|
|
mavlink_msg_log_erase_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_log_erase_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_log_erase_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component );
|
|
mavlink_msg_log_erase_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_log_request_end(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_log_request_end_t packet_in = {
|
|
5,72
|
|
};
|
|
mavlink_log_request_end_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_log_request_end_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_log_request_end_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_log_request_end_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component );
|
|
mavlink_msg_log_request_end_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_log_request_end_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component );
|
|
mavlink_msg_log_request_end_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_log_request_end_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_log_request_end_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component );
|
|
mavlink_msg_log_request_end_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_gps_inject_data(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_gps_inject_data_t packet_in = {
|
|
5,72,139,{ 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59 }
|
|
};
|
|
mavlink_gps_inject_data_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
packet1.len = packet_in.len;
|
|
|
|
mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*110);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps_inject_data_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_gps_inject_data_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps_inject_data_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.len , packet1.data );
|
|
mavlink_msg_gps_inject_data_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps_inject_data_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.len , packet1.data );
|
|
mavlink_msg_gps_inject_data_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_gps_inject_data_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps_inject_data_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.len , packet1.data );
|
|
mavlink_msg_gps_inject_data_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_gps2_raw(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_gps2_raw_t packet_in = {
|
|
93372036854775807ULL,963497880,963498088,963498296,963498504,18483,18587,18691,18795,101,168,235
|
|
};
|
|
mavlink_gps2_raw_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_usec = packet_in.time_usec;
|
|
packet1.lat = packet_in.lat;
|
|
packet1.lon = packet_in.lon;
|
|
packet1.alt = packet_in.alt;
|
|
packet1.dgps_age = packet_in.dgps_age;
|
|
packet1.eph = packet_in.eph;
|
|
packet1.epv = packet_in.epv;
|
|
packet1.vel = packet_in.vel;
|
|
packet1.cog = packet_in.cog;
|
|
packet1.fix_type = packet_in.fix_type;
|
|
packet1.satellites_visible = packet_in.satellites_visible;
|
|
packet1.dgps_numch = packet_in.dgps_numch;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps2_raw_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_gps2_raw_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps2_raw_pack(system_id, component_id, &msg , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.cog , packet1.satellites_visible , packet1.dgps_numch , packet1.dgps_age );
|
|
mavlink_msg_gps2_raw_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps2_raw_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.cog , packet1.satellites_visible , packet1.dgps_numch , packet1.dgps_age );
|
|
mavlink_msg_gps2_raw_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_gps2_raw_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps2_raw_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.cog , packet1.satellites_visible , packet1.dgps_numch , packet1.dgps_age );
|
|
mavlink_msg_gps2_raw_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_power_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_power_status_t packet_in = {
|
|
17235,17339,17443
|
|
};
|
|
mavlink_power_status_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.Vcc = packet_in.Vcc;
|
|
packet1.Vservo = packet_in.Vservo;
|
|
packet1.flags = packet_in.flags;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_power_status_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_power_status_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_power_status_pack(system_id, component_id, &msg , packet1.Vcc , packet1.Vservo , packet1.flags );
|
|
mavlink_msg_power_status_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_power_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.Vcc , packet1.Vservo , packet1.flags );
|
|
mavlink_msg_power_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_power_status_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_power_status_send(MAVLINK_COMM_1 , packet1.Vcc , packet1.Vservo , packet1.flags );
|
|
mavlink_msg_power_status_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_serial_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_serial_control_t packet_in = {
|
|
963497464,17443,151,218,29,{ 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165 }
|
|
};
|
|
mavlink_serial_control_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.baudrate = packet_in.baudrate;
|
|
packet1.timeout = packet_in.timeout;
|
|
packet1.device = packet_in.device;
|
|
packet1.flags = packet_in.flags;
|
|
packet1.count = packet_in.count;
|
|
|
|
mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*70);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_serial_control_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_serial_control_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_serial_control_pack(system_id, component_id, &msg , packet1.device , packet1.flags , packet1.timeout , packet1.baudrate , packet1.count , packet1.data );
|
|
mavlink_msg_serial_control_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_serial_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.device , packet1.flags , packet1.timeout , packet1.baudrate , packet1.count , packet1.data );
|
|
mavlink_msg_serial_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_serial_control_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_serial_control_send(MAVLINK_COMM_1 , packet1.device , packet1.flags , packet1.timeout , packet1.baudrate , packet1.count , packet1.data );
|
|
mavlink_msg_serial_control_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_gps_rtk(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_gps_rtk_t packet_in = {
|
|
963497464,963497672,963497880,963498088,963498296,963498504,963498712,18691,223,34,101,168,235
|
|
};
|
|
mavlink_gps_rtk_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_last_baseline_ms = packet_in.time_last_baseline_ms;
|
|
packet1.tow = packet_in.tow;
|
|
packet1.baseline_a_mm = packet_in.baseline_a_mm;
|
|
packet1.baseline_b_mm = packet_in.baseline_b_mm;
|
|
packet1.baseline_c_mm = packet_in.baseline_c_mm;
|
|
packet1.accuracy = packet_in.accuracy;
|
|
packet1.iar_num_hypotheses = packet_in.iar_num_hypotheses;
|
|
packet1.wn = packet_in.wn;
|
|
packet1.rtk_receiver_id = packet_in.rtk_receiver_id;
|
|
packet1.rtk_health = packet_in.rtk_health;
|
|
packet1.rtk_rate = packet_in.rtk_rate;
|
|
packet1.nsats = packet_in.nsats;
|
|
packet1.baseline_coords_type = packet_in.baseline_coords_type;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps_rtk_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_gps_rtk_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps_rtk_pack(system_id, component_id, &msg , packet1.time_last_baseline_ms , packet1.rtk_receiver_id , packet1.wn , packet1.tow , packet1.rtk_health , packet1.rtk_rate , packet1.nsats , packet1.baseline_coords_type , packet1.baseline_a_mm , packet1.baseline_b_mm , packet1.baseline_c_mm , packet1.accuracy , packet1.iar_num_hypotheses );
|
|
mavlink_msg_gps_rtk_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps_rtk_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_last_baseline_ms , packet1.rtk_receiver_id , packet1.wn , packet1.tow , packet1.rtk_health , packet1.rtk_rate , packet1.nsats , packet1.baseline_coords_type , packet1.baseline_a_mm , packet1.baseline_b_mm , packet1.baseline_c_mm , packet1.accuracy , packet1.iar_num_hypotheses );
|
|
mavlink_msg_gps_rtk_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_gps_rtk_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps_rtk_send(MAVLINK_COMM_1 , packet1.time_last_baseline_ms , packet1.rtk_receiver_id , packet1.wn , packet1.tow , packet1.rtk_health , packet1.rtk_rate , packet1.nsats , packet1.baseline_coords_type , packet1.baseline_a_mm , packet1.baseline_b_mm , packet1.baseline_c_mm , packet1.accuracy , packet1.iar_num_hypotheses );
|
|
mavlink_msg_gps_rtk_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_gps2_rtk(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_gps2_rtk_t packet_in = {
|
|
963497464,963497672,963497880,963498088,963498296,963498504,963498712,18691,223,34,101,168,235
|
|
};
|
|
mavlink_gps2_rtk_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_last_baseline_ms = packet_in.time_last_baseline_ms;
|
|
packet1.tow = packet_in.tow;
|
|
packet1.baseline_a_mm = packet_in.baseline_a_mm;
|
|
packet1.baseline_b_mm = packet_in.baseline_b_mm;
|
|
packet1.baseline_c_mm = packet_in.baseline_c_mm;
|
|
packet1.accuracy = packet_in.accuracy;
|
|
packet1.iar_num_hypotheses = packet_in.iar_num_hypotheses;
|
|
packet1.wn = packet_in.wn;
|
|
packet1.rtk_receiver_id = packet_in.rtk_receiver_id;
|
|
packet1.rtk_health = packet_in.rtk_health;
|
|
packet1.rtk_rate = packet_in.rtk_rate;
|
|
packet1.nsats = packet_in.nsats;
|
|
packet1.baseline_coords_type = packet_in.baseline_coords_type;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps2_rtk_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_gps2_rtk_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps2_rtk_pack(system_id, component_id, &msg , packet1.time_last_baseline_ms , packet1.rtk_receiver_id , packet1.wn , packet1.tow , packet1.rtk_health , packet1.rtk_rate , packet1.nsats , packet1.baseline_coords_type , packet1.baseline_a_mm , packet1.baseline_b_mm , packet1.baseline_c_mm , packet1.accuracy , packet1.iar_num_hypotheses );
|
|
mavlink_msg_gps2_rtk_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps2_rtk_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_last_baseline_ms , packet1.rtk_receiver_id , packet1.wn , packet1.tow , packet1.rtk_health , packet1.rtk_rate , packet1.nsats , packet1.baseline_coords_type , packet1.baseline_a_mm , packet1.baseline_b_mm , packet1.baseline_c_mm , packet1.accuracy , packet1.iar_num_hypotheses );
|
|
mavlink_msg_gps2_rtk_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_gps2_rtk_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_gps2_rtk_send(MAVLINK_COMM_1 , packet1.time_last_baseline_ms , packet1.rtk_receiver_id , packet1.wn , packet1.tow , packet1.rtk_health , packet1.rtk_rate , packet1.nsats , packet1.baseline_coords_type , packet1.baseline_a_mm , packet1.baseline_b_mm , packet1.baseline_c_mm , packet1.accuracy , packet1.iar_num_hypotheses );
|
|
mavlink_msg_gps2_rtk_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_scaled_imu3(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_scaled_imu3_t packet_in = {
|
|
963497464,17443,17547,17651,17755,17859,17963,18067,18171,18275
|
|
};
|
|
mavlink_scaled_imu3_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
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;
|
|
packet1.xmag = packet_in.xmag;
|
|
packet1.ymag = packet_in.ymag;
|
|
packet1.zmag = packet_in.zmag;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_scaled_imu3_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_scaled_imu3_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_scaled_imu3_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
|
|
mavlink_msg_scaled_imu3_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_scaled_imu3_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
|
|
mavlink_msg_scaled_imu3_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_scaled_imu3_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_scaled_imu3_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag );
|
|
mavlink_msg_scaled_imu3_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_data_transmission_handshake(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_data_transmission_handshake_t packet_in = {
|
|
963497464,17443,17547,17651,163,230,41
|
|
};
|
|
mavlink_data_transmission_handshake_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.size = packet_in.size;
|
|
packet1.width = packet_in.width;
|
|
packet1.height = packet_in.height;
|
|
packet1.packets = packet_in.packets;
|
|
packet1.type = packet_in.type;
|
|
packet1.payload = packet_in.payload;
|
|
packet1.jpg_quality = packet_in.jpg_quality;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_data_transmission_handshake_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_data_transmission_handshake_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_data_transmission_handshake_pack(system_id, component_id, &msg , packet1.type , packet1.size , packet1.width , packet1.height , packet1.packets , packet1.payload , packet1.jpg_quality );
|
|
mavlink_msg_data_transmission_handshake_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_data_transmission_handshake_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.size , packet1.width , packet1.height , packet1.packets , packet1.payload , packet1.jpg_quality );
|
|
mavlink_msg_data_transmission_handshake_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_data_transmission_handshake_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_data_transmission_handshake_send(MAVLINK_COMM_1 , packet1.type , packet1.size , packet1.width , packet1.height , packet1.packets , packet1.payload , packet1.jpg_quality );
|
|
mavlink_msg_data_transmission_handshake_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_encapsulated_data(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_encapsulated_data_t packet_in = {
|
|
17235,{ 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135 }
|
|
};
|
|
mavlink_encapsulated_data_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.seqnr = packet_in.seqnr;
|
|
|
|
mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*253);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_encapsulated_data_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_encapsulated_data_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_encapsulated_data_pack(system_id, component_id, &msg , packet1.seqnr , packet1.data );
|
|
mavlink_msg_encapsulated_data_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_encapsulated_data_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.seqnr , packet1.data );
|
|
mavlink_msg_encapsulated_data_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_encapsulated_data_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_encapsulated_data_send(MAVLINK_COMM_1 , packet1.seqnr , packet1.data );
|
|
mavlink_msg_encapsulated_data_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_distance_sensor(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_distance_sensor_t packet_in = {
|
|
963497464,17443,17547,17651,163,230,41,108
|
|
};
|
|
mavlink_distance_sensor_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
packet1.min_distance = packet_in.min_distance;
|
|
packet1.max_distance = packet_in.max_distance;
|
|
packet1.current_distance = packet_in.current_distance;
|
|
packet1.type = packet_in.type;
|
|
packet1.id = packet_in.id;
|
|
packet1.orientation = packet_in.orientation;
|
|
packet1.covariance = packet_in.covariance;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_distance_sensor_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_distance_sensor_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_distance_sensor_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.min_distance , packet1.max_distance , packet1.current_distance , packet1.type , packet1.id , packet1.orientation , packet1.covariance );
|
|
mavlink_msg_distance_sensor_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_distance_sensor_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.min_distance , packet1.max_distance , packet1.current_distance , packet1.type , packet1.id , packet1.orientation , packet1.covariance );
|
|
mavlink_msg_distance_sensor_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_distance_sensor_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_distance_sensor_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.min_distance , packet1.max_distance , packet1.current_distance , packet1.type , packet1.id , packet1.orientation , packet1.covariance );
|
|
mavlink_msg_distance_sensor_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_terrain_request(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_terrain_request_t packet_in = {
|
|
93372036854775807ULL,963497880,963498088,18067
|
|
};
|
|
mavlink_terrain_request_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.mask = packet_in.mask;
|
|
packet1.lat = packet_in.lat;
|
|
packet1.lon = packet_in.lon;
|
|
packet1.grid_spacing = packet_in.grid_spacing;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_terrain_request_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_terrain_request_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_terrain_request_pack(system_id, component_id, &msg , packet1.lat , packet1.lon , packet1.grid_spacing , packet1.mask );
|
|
mavlink_msg_terrain_request_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_terrain_request_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.lat , packet1.lon , packet1.grid_spacing , packet1.mask );
|
|
mavlink_msg_terrain_request_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_terrain_request_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_terrain_request_send(MAVLINK_COMM_1 , packet1.lat , packet1.lon , packet1.grid_spacing , packet1.mask );
|
|
mavlink_msg_terrain_request_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_terrain_data(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_terrain_data_t packet_in = {
|
|
963497464,963497672,17651,{ 17755, 17756, 17757, 17758, 17759, 17760, 17761, 17762, 17763, 17764, 17765, 17766, 17767, 17768, 17769, 17770 },3
|
|
};
|
|
mavlink_terrain_data_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.lat = packet_in.lat;
|
|
packet1.lon = packet_in.lon;
|
|
packet1.grid_spacing = packet_in.grid_spacing;
|
|
packet1.gridbit = packet_in.gridbit;
|
|
|
|
mav_array_memcpy(packet1.data, packet_in.data, sizeof(int16_t)*16);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_terrain_data_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_terrain_data_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_terrain_data_pack(system_id, component_id, &msg , packet1.lat , packet1.lon , packet1.grid_spacing , packet1.gridbit , packet1.data );
|
|
mavlink_msg_terrain_data_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_terrain_data_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.lat , packet1.lon , packet1.grid_spacing , packet1.gridbit , packet1.data );
|
|
mavlink_msg_terrain_data_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_terrain_data_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_terrain_data_send(MAVLINK_COMM_1 , packet1.lat , packet1.lon , packet1.grid_spacing , packet1.gridbit , packet1.data );
|
|
mavlink_msg_terrain_data_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_terrain_check(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_terrain_check_t packet_in = {
|
|
963497464,963497672
|
|
};
|
|
mavlink_terrain_check_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.lat = packet_in.lat;
|
|
packet1.lon = packet_in.lon;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_terrain_check_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_terrain_check_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_terrain_check_pack(system_id, component_id, &msg , packet1.lat , packet1.lon );
|
|
mavlink_msg_terrain_check_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_terrain_check_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.lat , packet1.lon );
|
|
mavlink_msg_terrain_check_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_terrain_check_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_terrain_check_send(MAVLINK_COMM_1 , packet1.lat , packet1.lon );
|
|
mavlink_msg_terrain_check_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_terrain_report(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_terrain_report_t packet_in = {
|
|
963497464,963497672,73.0,101.0,18067,18171,18275
|
|
};
|
|
mavlink_terrain_report_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.lat = packet_in.lat;
|
|
packet1.lon = packet_in.lon;
|
|
packet1.terrain_height = packet_in.terrain_height;
|
|
packet1.current_height = packet_in.current_height;
|
|
packet1.spacing = packet_in.spacing;
|
|
packet1.pending = packet_in.pending;
|
|
packet1.loaded = packet_in.loaded;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_terrain_report_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_terrain_report_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_terrain_report_pack(system_id, component_id, &msg , packet1.lat , packet1.lon , packet1.spacing , packet1.terrain_height , packet1.current_height , packet1.pending , packet1.loaded );
|
|
mavlink_msg_terrain_report_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_terrain_report_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.lat , packet1.lon , packet1.spacing , packet1.terrain_height , packet1.current_height , packet1.pending , packet1.loaded );
|
|
mavlink_msg_terrain_report_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_terrain_report_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_terrain_report_send(MAVLINK_COMM_1 , packet1.lat , packet1.lon , packet1.spacing , packet1.terrain_height , packet1.current_height , packet1.pending , packet1.loaded );
|
|
mavlink_msg_terrain_report_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_scaled_pressure2(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_scaled_pressure2_t packet_in = {
|
|
963497464,45.0,73.0,17859
|
|
};
|
|
mavlink_scaled_pressure2_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
packet1.press_abs = packet_in.press_abs;
|
|
packet1.press_diff = packet_in.press_diff;
|
|
packet1.temperature = packet_in.temperature;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_scaled_pressure2_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_scaled_pressure2_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_scaled_pressure2_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.press_abs , packet1.press_diff , packet1.temperature );
|
|
mavlink_msg_scaled_pressure2_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_scaled_pressure2_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.press_abs , packet1.press_diff , packet1.temperature );
|
|
mavlink_msg_scaled_pressure2_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_scaled_pressure2_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_scaled_pressure2_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.press_abs , packet1.press_diff , packet1.temperature );
|
|
mavlink_msg_scaled_pressure2_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_att_pos_mocap(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_att_pos_mocap_t packet_in = {
|
|
93372036854775807ULL,{ 73.0, 74.0, 75.0, 76.0 },185.0,213.0,241.0
|
|
};
|
|
mavlink_att_pos_mocap_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_usec = packet_in.time_usec;
|
|
packet1.x = packet_in.x;
|
|
packet1.y = packet_in.y;
|
|
packet1.z = packet_in.z;
|
|
|
|
mav_array_memcpy(packet1.q, packet_in.q, sizeof(float)*4);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_att_pos_mocap_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_att_pos_mocap_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_att_pos_mocap_pack(system_id, component_id, &msg , packet1.time_usec , packet1.q , packet1.x , packet1.y , packet1.z );
|
|
mavlink_msg_att_pos_mocap_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_att_pos_mocap_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.q , packet1.x , packet1.y , packet1.z );
|
|
mavlink_msg_att_pos_mocap_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_att_pos_mocap_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_att_pos_mocap_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.q , packet1.x , packet1.y , packet1.z );
|
|
mavlink_msg_att_pos_mocap_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_set_actuator_control_target(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_actuator_control_target_t packet_in = {
|
|
93372036854775807ULL,{ 73.0, 74.0, 75.0, 76.0, 77.0, 78.0, 79.0, 80.0 },125,192,3
|
|
};
|
|
mavlink_set_actuator_control_target_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_usec = packet_in.time_usec;
|
|
packet1.group_mlx = packet_in.group_mlx;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
|
|
mav_array_memcpy(packet1.controls, packet_in.controls, sizeof(float)*8);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_actuator_control_target_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_set_actuator_control_target_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_actuator_control_target_pack(system_id, component_id, &msg , packet1.time_usec , packet1.group_mlx , packet1.target_system , packet1.target_component , packet1.controls );
|
|
mavlink_msg_set_actuator_control_target_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_actuator_control_target_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.group_mlx , packet1.target_system , packet1.target_component , packet1.controls );
|
|
mavlink_msg_set_actuator_control_target_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_actuator_control_target_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_set_actuator_control_target_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.group_mlx , packet1.target_system , packet1.target_component , packet1.controls );
|
|
mavlink_msg_set_actuator_control_target_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_actuator_control_target(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_actuator_control_target_t packet_in = {
|
|
93372036854775807ULL,{ 73.0, 74.0, 75.0, 76.0, 77.0, 78.0, 79.0, 80.0 },125
|
|
};
|
|
mavlink_actuator_control_target_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_usec = packet_in.time_usec;
|
|
packet1.group_mlx = packet_in.group_mlx;
|
|
|
|
mav_array_memcpy(packet1.controls, packet_in.controls, sizeof(float)*8);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_actuator_control_target_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_actuator_control_target_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_actuator_control_target_pack(system_id, component_id, &msg , packet1.time_usec , packet1.group_mlx , packet1.controls );
|
|
mavlink_msg_actuator_control_target_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_actuator_control_target_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.group_mlx , packet1.controls );
|
|
mavlink_msg_actuator_control_target_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_actuator_control_target_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_actuator_control_target_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.group_mlx , packet1.controls );
|
|
mavlink_msg_actuator_control_target_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_battery_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_battery_status_t packet_in = {
|
|
963497464,963497672,17651,{ 17755, 17756, 17757, 17758, 17759, 17760, 17761, 17762, 17763, 17764 },18795,101,168,235,46
|
|
};
|
|
mavlink_battery_status_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.current_consumed = packet_in.current_consumed;
|
|
packet1.energy_consumed = packet_in.energy_consumed;
|
|
packet1.temperature = packet_in.temperature;
|
|
packet1.current_battery = packet_in.current_battery;
|
|
packet1.id = packet_in.id;
|
|
packet1.battery_function = packet_in.battery_function;
|
|
packet1.type = packet_in.type;
|
|
packet1.battery_remaining = packet_in.battery_remaining;
|
|
|
|
mav_array_memcpy(packet1.voltages, packet_in.voltages, sizeof(uint16_t)*10);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_battery_status_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_battery_status_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_battery_status_pack(system_id, component_id, &msg , packet1.id , packet1.battery_function , packet1.type , packet1.temperature , packet1.voltages , packet1.current_battery , packet1.current_consumed , packet1.energy_consumed , packet1.battery_remaining );
|
|
mavlink_msg_battery_status_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_battery_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.id , packet1.battery_function , packet1.type , packet1.temperature , packet1.voltages , packet1.current_battery , packet1.current_consumed , packet1.energy_consumed , packet1.battery_remaining );
|
|
mavlink_msg_battery_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_battery_status_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_battery_status_send(MAVLINK_COMM_1 , packet1.id , packet1.battery_function , packet1.type , packet1.temperature , packet1.voltages , packet1.current_battery , packet1.current_consumed , packet1.energy_consumed , packet1.battery_remaining );
|
|
mavlink_msg_battery_status_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_autopilot_version(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_autopilot_version_t packet_in = {
|
|
93372036854775807ULL,93372036854776311ULL,963498296,963498504,963498712,963498920,18899,19003,{ 113, 114, 115, 116, 117, 118, 119, 120 },{ 137, 138, 139, 140, 141, 142, 143, 144 },{ 161, 162, 163, 164, 165, 166, 167, 168 }
|
|
};
|
|
mavlink_autopilot_version_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.capabilities = packet_in.capabilities;
|
|
packet1.uid = packet_in.uid;
|
|
packet1.flight_sw_version = packet_in.flight_sw_version;
|
|
packet1.middleware_sw_version = packet_in.middleware_sw_version;
|
|
packet1.os_sw_version = packet_in.os_sw_version;
|
|
packet1.board_version = packet_in.board_version;
|
|
packet1.vendor_id = packet_in.vendor_id;
|
|
packet1.product_id = packet_in.product_id;
|
|
|
|
mav_array_memcpy(packet1.flight_custom_version, packet_in.flight_custom_version, sizeof(uint8_t)*8);
|
|
mav_array_memcpy(packet1.middleware_custom_version, packet_in.middleware_custom_version, sizeof(uint8_t)*8);
|
|
mav_array_memcpy(packet1.os_custom_version, packet_in.os_custom_version, sizeof(uint8_t)*8);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_autopilot_version_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_autopilot_version_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_autopilot_version_pack(system_id, component_id, &msg , packet1.capabilities , packet1.flight_sw_version , packet1.middleware_sw_version , packet1.os_sw_version , packet1.board_version , packet1.flight_custom_version , packet1.middleware_custom_version , packet1.os_custom_version , packet1.vendor_id , packet1.product_id , packet1.uid );
|
|
mavlink_msg_autopilot_version_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_autopilot_version_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.capabilities , packet1.flight_sw_version , packet1.middleware_sw_version , packet1.os_sw_version , packet1.board_version , packet1.flight_custom_version , packet1.middleware_custom_version , packet1.os_custom_version , packet1.vendor_id , packet1.product_id , packet1.uid );
|
|
mavlink_msg_autopilot_version_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_autopilot_version_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_autopilot_version_send(MAVLINK_COMM_1 , packet1.capabilities , packet1.flight_sw_version , packet1.middleware_sw_version , packet1.os_sw_version , packet1.board_version , packet1.flight_custom_version , packet1.middleware_custom_version , packet1.os_custom_version , packet1.vendor_id , packet1.product_id , packet1.uid );
|
|
mavlink_msg_autopilot_version_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_landing_target(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_landing_target_t packet_in = {
|
|
17.0,45.0,73.0,41,108
|
|
};
|
|
mavlink_landing_target_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.angle_x = packet_in.angle_x;
|
|
packet1.angle_y = packet_in.angle_y;
|
|
packet1.distance = packet_in.distance;
|
|
packet1.target_num = packet_in.target_num;
|
|
packet1.frame = packet_in.frame;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_landing_target_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_landing_target_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_landing_target_pack(system_id, component_id, &msg , packet1.target_num , packet1.frame , packet1.angle_x , packet1.angle_y , packet1.distance );
|
|
mavlink_msg_landing_target_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_landing_target_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_num , packet1.frame , packet1.angle_x , packet1.angle_y , packet1.distance );
|
|
mavlink_msg_landing_target_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_landing_target_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_landing_target_send(MAVLINK_COMM_1 , packet1.target_num , packet1.frame , packet1.angle_x , packet1.angle_y , packet1.distance );
|
|
mavlink_msg_landing_target_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_vibration(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_vibration_t packet_in = {
|
|
93372036854775807ULL,73.0,101.0,129.0,963498504,963498712,963498920
|
|
};
|
|
mavlink_vibration_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_usec = packet_in.time_usec;
|
|
packet1.vibration_x = packet_in.vibration_x;
|
|
packet1.vibration_y = packet_in.vibration_y;
|
|
packet1.vibration_z = packet_in.vibration_z;
|
|
packet1.clipping_0 = packet_in.clipping_0;
|
|
packet1.clipping_1 = packet_in.clipping_1;
|
|
packet1.clipping_2 = packet_in.clipping_2;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_vibration_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_vibration_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_vibration_pack(system_id, component_id, &msg , packet1.time_usec , packet1.vibration_x , packet1.vibration_y , packet1.vibration_z , packet1.clipping_0 , packet1.clipping_1 , packet1.clipping_2 );
|
|
mavlink_msg_vibration_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_vibration_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.vibration_x , packet1.vibration_y , packet1.vibration_z , packet1.clipping_0 , packet1.clipping_1 , packet1.clipping_2 );
|
|
mavlink_msg_vibration_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_vibration_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_vibration_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.vibration_x , packet1.vibration_y , packet1.vibration_z , packet1.clipping_0 , packet1.clipping_1 , packet1.clipping_2 );
|
|
mavlink_msg_vibration_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_v2_extension(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_v2_extension_t packet_in = {
|
|
17235,139,206,17,{ 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76 }
|
|
};
|
|
mavlink_v2_extension_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.message_type = packet_in.message_type;
|
|
packet1.target_network = packet_in.target_network;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
|
|
mav_array_memcpy(packet1.payload, packet_in.payload, sizeof(uint8_t)*249);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_v2_extension_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_v2_extension_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_v2_extension_pack(system_id, component_id, &msg , packet1.target_network , packet1.target_system , packet1.target_component , packet1.message_type , packet1.payload );
|
|
mavlink_msg_v2_extension_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_v2_extension_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_network , packet1.target_system , packet1.target_component , packet1.message_type , packet1.payload );
|
|
mavlink_msg_v2_extension_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_v2_extension_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_v2_extension_send(MAVLINK_COMM_1 , packet1.target_network , packet1.target_system , packet1.target_component , packet1.message_type , packet1.payload );
|
|
mavlink_msg_v2_extension_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_memory_vect(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_memory_vect_t packet_in = {
|
|
17235,139,206,{ 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48 }
|
|
};
|
|
mavlink_memory_vect_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.address = packet_in.address;
|
|
packet1.ver = packet_in.ver;
|
|
packet1.type = packet_in.type;
|
|
|
|
mav_array_memcpy(packet1.value, packet_in.value, sizeof(int8_t)*32);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_memory_vect_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_memory_vect_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_memory_vect_pack(system_id, component_id, &msg , packet1.address , packet1.ver , packet1.type , packet1.value );
|
|
mavlink_msg_memory_vect_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_memory_vect_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.address , packet1.ver , packet1.type , packet1.value );
|
|
mavlink_msg_memory_vect_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_memory_vect_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_memory_vect_send(MAVLINK_COMM_1 , packet1.address , packet1.ver , packet1.type , packet1.value );
|
|
mavlink_msg_memory_vect_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_debug_vect(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_debug_vect_t packet_in = {
|
|
93372036854775807ULL,73.0,101.0,129.0,"UVWXYZABC"
|
|
};
|
|
mavlink_debug_vect_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_usec = packet_in.time_usec;
|
|
packet1.x = packet_in.x;
|
|
packet1.y = packet_in.y;
|
|
packet1.z = packet_in.z;
|
|
|
|
mav_array_memcpy(packet1.name, packet_in.name, sizeof(char)*10);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_debug_vect_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_debug_vect_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_debug_vect_pack(system_id, component_id, &msg , packet1.name , packet1.time_usec , packet1.x , packet1.y , packet1.z );
|
|
mavlink_msg_debug_vect_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_debug_vect_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.name , packet1.time_usec , packet1.x , packet1.y , packet1.z );
|
|
mavlink_msg_debug_vect_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_debug_vect_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_debug_vect_send(MAVLINK_COMM_1 , packet1.name , packet1.time_usec , packet1.x , packet1.y , packet1.z );
|
|
mavlink_msg_debug_vect_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_named_value_float(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_named_value_float_t packet_in = {
|
|
963497464,45.0,"IJKLMNOPQ"
|
|
};
|
|
mavlink_named_value_float_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
packet1.value = packet_in.value;
|
|
|
|
mav_array_memcpy(packet1.name, packet_in.name, sizeof(char)*10);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_named_value_float_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_named_value_float_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_named_value_float_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.name , packet1.value );
|
|
mavlink_msg_named_value_float_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_named_value_float_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.name , packet1.value );
|
|
mavlink_msg_named_value_float_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_named_value_float_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_named_value_float_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.name , packet1.value );
|
|
mavlink_msg_named_value_float_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_named_value_int(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_named_value_int_t packet_in = {
|
|
963497464,963497672,"IJKLMNOPQ"
|
|
};
|
|
mavlink_named_value_int_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
packet1.value = packet_in.value;
|
|
|
|
mav_array_memcpy(packet1.name, packet_in.name, sizeof(char)*10);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_named_value_int_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_named_value_int_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_named_value_int_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.name , packet1.value );
|
|
mavlink_msg_named_value_int_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_named_value_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.name , packet1.value );
|
|
mavlink_msg_named_value_int_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_named_value_int_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_named_value_int_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.name , packet1.value );
|
|
mavlink_msg_named_value_int_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_statustext(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_statustext_t packet_in = {
|
|
5,"BCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWX"
|
|
};
|
|
mavlink_statustext_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.severity = packet_in.severity;
|
|
|
|
mav_array_memcpy(packet1.text, packet_in.text, sizeof(char)*50);
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_statustext_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_statustext_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_statustext_pack(system_id, component_id, &msg , packet1.severity , packet1.text );
|
|
mavlink_msg_statustext_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_statustext_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.severity , packet1.text );
|
|
mavlink_msg_statustext_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_statustext_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_statustext_send(MAVLINK_COMM_1 , packet1.severity , packet1.text );
|
|
mavlink_msg_statustext_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_debug(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_debug_t packet_in = {
|
|
963497464,45.0,29
|
|
};
|
|
mavlink_debug_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
packet1.value = packet_in.value;
|
|
packet1.ind = packet_in.ind;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_debug_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_debug_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_debug_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.ind , packet1.value );
|
|
mavlink_msg_debug_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_debug_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.ind , packet1.value );
|
|
mavlink_msg_debug_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_debug_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_debug_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.ind , packet1.value );
|
|
mavlink_msg_debug_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
|
{
|
|
mavlink_test_heartbeat(system_id, component_id, last_msg);
|
|
mavlink_test_sys_status(system_id, component_id, last_msg);
|
|
mavlink_test_system_time(system_id, component_id, last_msg);
|
|
mavlink_test_ping(system_id, component_id, last_msg);
|
|
mavlink_test_change_operator_control(system_id, component_id, last_msg);
|
|
mavlink_test_change_operator_control_ack(system_id, component_id, last_msg);
|
|
mavlink_test_auth_key(system_id, component_id, last_msg);
|
|
mavlink_test_set_mode(system_id, component_id, last_msg);
|
|
mavlink_test_param_request_read(system_id, component_id, last_msg);
|
|
mavlink_test_param_request_list(system_id, component_id, last_msg);
|
|
mavlink_test_param_value(system_id, component_id, last_msg);
|
|
mavlink_test_param_set(system_id, component_id, last_msg);
|
|
mavlink_test_gps_raw_int(system_id, component_id, last_msg);
|
|
mavlink_test_gps_status(system_id, component_id, last_msg);
|
|
mavlink_test_scaled_imu(system_id, component_id, last_msg);
|
|
mavlink_test_raw_imu(system_id, component_id, last_msg);
|
|
mavlink_test_raw_pressure(system_id, component_id, last_msg);
|
|
mavlink_test_scaled_pressure(system_id, component_id, last_msg);
|
|
mavlink_test_attitude(system_id, component_id, last_msg);
|
|
mavlink_test_attitude_quaternion(system_id, component_id, last_msg);
|
|
mavlink_test_local_position_ned(system_id, component_id, last_msg);
|
|
mavlink_test_global_position_int(system_id, component_id, last_msg);
|
|
mavlink_test_rc_channels_scaled(system_id, component_id, last_msg);
|
|
mavlink_test_rc_channels_raw(system_id, component_id, last_msg);
|
|
mavlink_test_servo_output_raw(system_id, component_id, last_msg);
|
|
mavlink_test_mission_request_partial_list(system_id, component_id, last_msg);
|
|
mavlink_test_mission_write_partial_list(system_id, component_id, last_msg);
|
|
mavlink_test_mission_item(system_id, component_id, last_msg);
|
|
mavlink_test_mission_request(system_id, component_id, last_msg);
|
|
mavlink_test_mission_set_current(system_id, component_id, last_msg);
|
|
mavlink_test_mission_current(system_id, component_id, last_msg);
|
|
mavlink_test_mission_request_list(system_id, component_id, last_msg);
|
|
mavlink_test_mission_count(system_id, component_id, last_msg);
|
|
mavlink_test_mission_clear_all(system_id, component_id, last_msg);
|
|
mavlink_test_mission_item_reached(system_id, component_id, last_msg);
|
|
mavlink_test_mission_ack(system_id, component_id, last_msg);
|
|
mavlink_test_set_gps_global_origin(system_id, component_id, last_msg);
|
|
mavlink_test_gps_global_origin(system_id, component_id, last_msg);
|
|
mavlink_test_param_map_rc(system_id, component_id, last_msg);
|
|
mavlink_test_safety_set_allowed_area(system_id, component_id, last_msg);
|
|
mavlink_test_safety_allowed_area(system_id, component_id, last_msg);
|
|
mavlink_test_attitude_quaternion_cov(system_id, component_id, last_msg);
|
|
mavlink_test_nav_controller_output(system_id, component_id, last_msg);
|
|
mavlink_test_global_position_int_cov(system_id, component_id, last_msg);
|
|
mavlink_test_local_position_ned_cov(system_id, component_id, last_msg);
|
|
mavlink_test_rc_channels(system_id, component_id, last_msg);
|
|
mavlink_test_request_data_stream(system_id, component_id, last_msg);
|
|
mavlink_test_data_stream(system_id, component_id, last_msg);
|
|
mavlink_test_manual_control(system_id, component_id, last_msg);
|
|
mavlink_test_rc_channels_override(system_id, component_id, last_msg);
|
|
mavlink_test_mission_item_int(system_id, component_id, last_msg);
|
|
mavlink_test_vfr_hud(system_id, component_id, last_msg);
|
|
mavlink_test_command_int(system_id, component_id, last_msg);
|
|
mavlink_test_command_long(system_id, component_id, last_msg);
|
|
mavlink_test_command_ack(system_id, component_id, last_msg);
|
|
mavlink_test_manual_setpoint(system_id, component_id, last_msg);
|
|
mavlink_test_set_attitude_target(system_id, component_id, last_msg);
|
|
mavlink_test_attitude_target(system_id, component_id, last_msg);
|
|
mavlink_test_set_position_target_local_ned(system_id, component_id, last_msg);
|
|
mavlink_test_position_target_local_ned(system_id, component_id, last_msg);
|
|
mavlink_test_set_position_target_global_int(system_id, component_id, last_msg);
|
|
mavlink_test_position_target_global_int(system_id, component_id, last_msg);
|
|
mavlink_test_local_position_ned_system_global_offset(system_id, component_id, last_msg);
|
|
mavlink_test_hil_state(system_id, component_id, last_msg);
|
|
mavlink_test_hil_controls(system_id, component_id, last_msg);
|
|
mavlink_test_hil_rc_inputs_raw(system_id, component_id, last_msg);
|
|
mavlink_test_optical_flow(system_id, component_id, last_msg);
|
|
mavlink_test_global_vision_position_estimate(system_id, component_id, last_msg);
|
|
mavlink_test_vision_position_estimate(system_id, component_id, last_msg);
|
|
mavlink_test_vision_speed_estimate(system_id, component_id, last_msg);
|
|
mavlink_test_vicon_position_estimate(system_id, component_id, last_msg);
|
|
mavlink_test_highres_imu(system_id, component_id, last_msg);
|
|
mavlink_test_optical_flow_rad(system_id, component_id, last_msg);
|
|
mavlink_test_hil_sensor(system_id, component_id, last_msg);
|
|
mavlink_test_sim_state(system_id, component_id, last_msg);
|
|
mavlink_test_radio_status(system_id, component_id, last_msg);
|
|
mavlink_test_file_transfer_protocol(system_id, component_id, last_msg);
|
|
mavlink_test_timesync(system_id, component_id, last_msg);
|
|
mavlink_test_hil_gps(system_id, component_id, last_msg);
|
|
mavlink_test_hil_optical_flow(system_id, component_id, last_msg);
|
|
mavlink_test_hil_state_quaternion(system_id, component_id, last_msg);
|
|
mavlink_test_scaled_imu2(system_id, component_id, last_msg);
|
|
mavlink_test_log_request_list(system_id, component_id, last_msg);
|
|
mavlink_test_log_entry(system_id, component_id, last_msg);
|
|
mavlink_test_log_request_data(system_id, component_id, last_msg);
|
|
mavlink_test_log_data(system_id, component_id, last_msg);
|
|
mavlink_test_log_erase(system_id, component_id, last_msg);
|
|
mavlink_test_log_request_end(system_id, component_id, last_msg);
|
|
mavlink_test_gps_inject_data(system_id, component_id, last_msg);
|
|
mavlink_test_gps2_raw(system_id, component_id, last_msg);
|
|
mavlink_test_power_status(system_id, component_id, last_msg);
|
|
mavlink_test_serial_control(system_id, component_id, last_msg);
|
|
mavlink_test_gps_rtk(system_id, component_id, last_msg);
|
|
mavlink_test_gps2_rtk(system_id, component_id, last_msg);
|
|
mavlink_test_scaled_imu3(system_id, component_id, last_msg);
|
|
mavlink_test_data_transmission_handshake(system_id, component_id, last_msg);
|
|
mavlink_test_encapsulated_data(system_id, component_id, last_msg);
|
|
mavlink_test_distance_sensor(system_id, component_id, last_msg);
|
|
mavlink_test_terrain_request(system_id, component_id, last_msg);
|
|
mavlink_test_terrain_data(system_id, component_id, last_msg);
|
|
mavlink_test_terrain_check(system_id, component_id, last_msg);
|
|
mavlink_test_terrain_report(system_id, component_id, last_msg);
|
|
mavlink_test_scaled_pressure2(system_id, component_id, last_msg);
|
|
mavlink_test_att_pos_mocap(system_id, component_id, last_msg);
|
|
mavlink_test_set_actuator_control_target(system_id, component_id, last_msg);
|
|
mavlink_test_actuator_control_target(system_id, component_id, last_msg);
|
|
mavlink_test_battery_status(system_id, component_id, last_msg);
|
|
mavlink_test_autopilot_version(system_id, component_id, last_msg);
|
|
mavlink_test_landing_target(system_id, component_id, last_msg);
|
|
mavlink_test_vibration(system_id, component_id, last_msg);
|
|
mavlink_test_v2_extension(system_id, component_id, last_msg);
|
|
mavlink_test_memory_vect(system_id, component_id, last_msg);
|
|
mavlink_test_debug_vect(system_id, component_id, last_msg);
|
|
mavlink_test_named_value_float(system_id, component_id, last_msg);
|
|
mavlink_test_named_value_int(system_id, component_id, last_msg);
|
|
mavlink_test_statustext(system_id, component_id, last_msg);
|
|
mavlink_test_debug(system_id, component_id, last_msg);
|
|
}
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif // __cplusplus
|
|
#endif // COMMON_TESTSUITE_H
|