mirror of https://github.com/ArduPilot/ardupilot
1021 lines
44 KiB
C
1021 lines
44 KiB
C
/** @file
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* @brief MAVLink comm protocol testsuite generated from ardupilotmega.xml
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* @see http://qgroundcontrol.org/mavlink/
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*/
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#ifndef ARDUPILOTMEGA_TESTSUITE_H
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#define ARDUPILOTMEGA_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_ardupilotmega(uint8_t, uint8_t, mavlink_message_t *last_msg);
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static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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mavlink_test_common(system_id, component_id, last_msg);
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mavlink_test_ardupilotmega(system_id, component_id, last_msg);
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}
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#endif
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#include "../common/testsuite.h"
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static void mavlink_test_sensor_offsets(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_sensor_offsets_t packet_in = {
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17.0,
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963497672,
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963497880,
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101.0,
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129.0,
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157.0,
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185.0,
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213.0,
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241.0,
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19107,
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19211,
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19315,
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};
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mavlink_sensor_offsets_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.mag_declination = packet_in.mag_declination;
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packet1.raw_press = packet_in.raw_press;
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packet1.raw_temp = packet_in.raw_temp;
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packet1.gyro_cal_x = packet_in.gyro_cal_x;
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packet1.gyro_cal_y = packet_in.gyro_cal_y;
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packet1.gyro_cal_z = packet_in.gyro_cal_z;
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packet1.accel_cal_x = packet_in.accel_cal_x;
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packet1.accel_cal_y = packet_in.accel_cal_y;
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packet1.accel_cal_z = packet_in.accel_cal_z;
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packet1.mag_ofs_x = packet_in.mag_ofs_x;
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packet1.mag_ofs_y = packet_in.mag_ofs_y;
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packet1.mag_ofs_z = packet_in.mag_ofs_z;
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_sensor_offsets_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_sensor_offsets_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_sensor_offsets_pack(system_id, component_id, &msg , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z );
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mavlink_msg_sensor_offsets_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_sensor_offsets_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z );
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mavlink_msg_sensor_offsets_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_sensor_offsets_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_sensor_offsets_send(MAVLINK_COMM_1 , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z );
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mavlink_msg_sensor_offsets_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_set_mag_offsets(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_set_mag_offsets_t packet_in = {
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17235,
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17339,
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17443,
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151,
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218,
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};
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mavlink_set_mag_offsets_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.mag_ofs_x = packet_in.mag_ofs_x;
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packet1.mag_ofs_y = packet_in.mag_ofs_y;
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packet1.mag_ofs_z = packet_in.mag_ofs_z;
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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_set_mag_offsets_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_set_mag_offsets_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_set_mag_offsets_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
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mavlink_msg_set_mag_offsets_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_set_mag_offsets_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
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mavlink_msg_set_mag_offsets_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_set_mag_offsets_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_set_mag_offsets_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z );
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mavlink_msg_set_mag_offsets_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_meminfo(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_meminfo_t packet_in = {
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17235,
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17339,
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};
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mavlink_meminfo_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.brkval = packet_in.brkval;
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packet1.freemem = packet_in.freemem;
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_meminfo_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_meminfo_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_meminfo_pack(system_id, component_id, &msg , packet1.brkval , packet1.freemem );
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mavlink_msg_meminfo_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_meminfo_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.brkval , packet1.freemem );
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mavlink_msg_meminfo_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_meminfo_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_meminfo_send(MAVLINK_COMM_1 , packet1.brkval , packet1.freemem );
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mavlink_msg_meminfo_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_ap_adc(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_ap_adc_t packet_in = {
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17235,
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17339,
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17443,
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17547,
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17651,
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17755,
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};
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mavlink_ap_adc_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.adc1 = packet_in.adc1;
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packet1.adc2 = packet_in.adc2;
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packet1.adc3 = packet_in.adc3;
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packet1.adc4 = packet_in.adc4;
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packet1.adc5 = packet_in.adc5;
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packet1.adc6 = packet_in.adc6;
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_ap_adc_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_ap_adc_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_ap_adc_pack(system_id, component_id, &msg , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 );
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mavlink_msg_ap_adc_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_ap_adc_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 );
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mavlink_msg_ap_adc_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_ap_adc_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_ap_adc_send(MAVLINK_COMM_1 , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 );
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mavlink_msg_ap_adc_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_digicam_configure(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_digicam_configure_t packet_in = {
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17.0,
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17443,
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151,
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218,
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29,
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96,
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163,
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230,
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41,
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108,
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175,
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};
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mavlink_digicam_configure_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.extra_value = packet_in.extra_value;
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packet1.shutter_speed = packet_in.shutter_speed;
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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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packet1.mode = packet_in.mode;
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packet1.aperture = packet_in.aperture;
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packet1.iso = packet_in.iso;
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packet1.exposure_type = packet_in.exposure_type;
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packet1.command_id = packet_in.command_id;
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packet1.engine_cut_off = packet_in.engine_cut_off;
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packet1.extra_param = packet_in.extra_param;
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_digicam_configure_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_digicam_configure_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_digicam_configure_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.mode , packet1.shutter_speed , packet1.aperture , packet1.iso , packet1.exposure_type , packet1.command_id , packet1.engine_cut_off , packet1.extra_param , packet1.extra_value );
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mavlink_msg_digicam_configure_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_digicam_configure_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.mode , packet1.shutter_speed , packet1.aperture , packet1.iso , packet1.exposure_type , packet1.command_id , packet1.engine_cut_off , packet1.extra_param , packet1.extra_value );
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mavlink_msg_digicam_configure_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_digicam_configure_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_digicam_configure_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.mode , packet1.shutter_speed , packet1.aperture , packet1.iso , packet1.exposure_type , packet1.command_id , packet1.engine_cut_off , packet1.extra_param , packet1.extra_value );
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mavlink_msg_digicam_configure_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_digicam_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_digicam_control_t packet_in = {
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17.0,
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17,
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84,
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151,
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218,
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29,
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96,
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163,
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230,
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41,
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};
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mavlink_digicam_control_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.extra_value = packet_in.extra_value;
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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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packet1.session = packet_in.session;
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packet1.zoom_pos = packet_in.zoom_pos;
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packet1.zoom_step = packet_in.zoom_step;
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packet1.focus_lock = packet_in.focus_lock;
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packet1.shot = packet_in.shot;
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packet1.command_id = packet_in.command_id;
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packet1.extra_param = packet_in.extra_param;
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_digicam_control_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_digicam_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_digicam_control_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.session , packet1.zoom_pos , packet1.zoom_step , packet1.focus_lock , packet1.shot , packet1.command_id , packet1.extra_param , packet1.extra_value );
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mavlink_msg_digicam_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_digicam_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.session , packet1.zoom_pos , packet1.zoom_step , packet1.focus_lock , packet1.shot , packet1.command_id , packet1.extra_param , packet1.extra_value );
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mavlink_msg_digicam_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++) {
|
|
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
|
}
|
|
mavlink_msg_digicam_control_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_digicam_control_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.session , packet1.zoom_pos , packet1.zoom_step , packet1.focus_lock , packet1.shot , packet1.command_id , packet1.extra_param , packet1.extra_value );
|
|
mavlink_msg_digicam_control_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_mount_configure(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
|
{
|
|
mavlink_message_t msg;
|
|
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
|
uint16_t i;
|
|
mavlink_mount_configure_t packet_in = {
|
|
5,
|
|
72,
|
|
139,
|
|
206,
|
|
17,
|
|
84,
|
|
};
|
|
mavlink_mount_configure_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
packet1.mount_mode = packet_in.mount_mode;
|
|
packet1.stab_roll = packet_in.stab_roll;
|
|
packet1.stab_pitch = packet_in.stab_pitch;
|
|
packet1.stab_yaw = packet_in.stab_yaw;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mount_configure_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_mount_configure_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mount_configure_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.mount_mode , packet1.stab_roll , packet1.stab_pitch , packet1.stab_yaw );
|
|
mavlink_msg_mount_configure_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mount_configure_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.mount_mode , packet1.stab_roll , packet1.stab_pitch , packet1.stab_yaw );
|
|
mavlink_msg_mount_configure_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_to_send_buffer(buffer, &msg);
|
|
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
|
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
|
}
|
|
mavlink_msg_mount_configure_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mount_configure_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.mount_mode , packet1.stab_roll , packet1.stab_pitch , packet1.stab_yaw );
|
|
mavlink_msg_mount_configure_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_mount_control(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
|
{
|
|
mavlink_message_t msg;
|
|
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
|
uint16_t i;
|
|
mavlink_mount_control_t packet_in = {
|
|
963497464,
|
|
963497672,
|
|
963497880,
|
|
41,
|
|
108,
|
|
175,
|
|
};
|
|
mavlink_mount_control_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.input_a = packet_in.input_a;
|
|
packet1.input_b = packet_in.input_b;
|
|
packet1.input_c = packet_in.input_c;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
packet1.save_position = packet_in.save_position;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mount_control_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_mount_control_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mount_control_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.input_a , packet1.input_b , packet1.input_c , packet1.save_position );
|
|
mavlink_msg_mount_control_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mount_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.input_a , packet1.input_b , packet1.input_c , packet1.save_position );
|
|
mavlink_msg_mount_control_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_to_send_buffer(buffer, &msg);
|
|
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
|
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
|
}
|
|
mavlink_msg_mount_control_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mount_control_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.input_a , packet1.input_b , packet1.input_c , packet1.save_position );
|
|
mavlink_msg_mount_control_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_mount_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
|
{
|
|
mavlink_message_t msg;
|
|
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
|
uint16_t i;
|
|
mavlink_mount_status_t packet_in = {
|
|
963497464,
|
|
963497672,
|
|
963497880,
|
|
41,
|
|
108,
|
|
};
|
|
mavlink_mount_status_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.pointing_a = packet_in.pointing_a;
|
|
packet1.pointing_b = packet_in.pointing_b;
|
|
packet1.pointing_c = packet_in.pointing_c;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mount_status_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_mount_status_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mount_status_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.pointing_a , packet1.pointing_b , packet1.pointing_c );
|
|
mavlink_msg_mount_status_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mount_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.pointing_a , packet1.pointing_b , packet1.pointing_c );
|
|
mavlink_msg_mount_status_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_to_send_buffer(buffer, &msg);
|
|
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
|
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
|
}
|
|
mavlink_msg_mount_status_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_mount_status_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.pointing_a , packet1.pointing_b , packet1.pointing_c );
|
|
mavlink_msg_mount_status_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_fence_point(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
|
{
|
|
mavlink_message_t msg;
|
|
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
|
uint16_t i;
|
|
mavlink_fence_point_t packet_in = {
|
|
17.0,
|
|
45.0,
|
|
29,
|
|
96,
|
|
163,
|
|
230,
|
|
};
|
|
mavlink_fence_point_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.lat = packet_in.lat;
|
|
packet1.lng = packet_in.lng;
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
packet1.idx = packet_in.idx;
|
|
packet1.count = packet_in.count;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_fence_point_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_fence_point_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_fence_point_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng );
|
|
mavlink_msg_fence_point_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_fence_point_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng );
|
|
mavlink_msg_fence_point_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_to_send_buffer(buffer, &msg);
|
|
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
|
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
|
}
|
|
mavlink_msg_fence_point_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_fence_point_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng );
|
|
mavlink_msg_fence_point_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_fence_fetch_point(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
|
{
|
|
mavlink_message_t msg;
|
|
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
|
uint16_t i;
|
|
mavlink_fence_fetch_point_t packet_in = {
|
|
5,
|
|
72,
|
|
139,
|
|
};
|
|
mavlink_fence_fetch_point_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.target_system = packet_in.target_system;
|
|
packet1.target_component = packet_in.target_component;
|
|
packet1.idx = packet_in.idx;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_fence_fetch_point_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_fence_fetch_point_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_fence_fetch_point_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.idx );
|
|
mavlink_msg_fence_fetch_point_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_fence_fetch_point_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.idx );
|
|
mavlink_msg_fence_fetch_point_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_to_send_buffer(buffer, &msg);
|
|
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
|
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
|
}
|
|
mavlink_msg_fence_fetch_point_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_fence_fetch_point_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.idx );
|
|
mavlink_msg_fence_fetch_point_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_fence_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
|
{
|
|
mavlink_message_t msg;
|
|
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
|
uint16_t i;
|
|
mavlink_fence_status_t packet_in = {
|
|
963497464,
|
|
17443,
|
|
151,
|
|
218,
|
|
};
|
|
mavlink_fence_status_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.breach_time = packet_in.breach_time;
|
|
packet1.breach_count = packet_in.breach_count;
|
|
packet1.breach_status = packet_in.breach_status;
|
|
packet1.breach_type = packet_in.breach_type;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_fence_status_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_fence_status_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_fence_status_pack(system_id, component_id, &msg , packet1.breach_status , packet1.breach_count , packet1.breach_type , packet1.breach_time );
|
|
mavlink_msg_fence_status_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_fence_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.breach_status , packet1.breach_count , packet1.breach_type , packet1.breach_time );
|
|
mavlink_msg_fence_status_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_to_send_buffer(buffer, &msg);
|
|
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
|
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
|
}
|
|
mavlink_msg_fence_status_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_fence_status_send(MAVLINK_COMM_1 , packet1.breach_status , packet1.breach_count , packet1.breach_type , packet1.breach_time );
|
|
mavlink_msg_fence_status_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_ahrs(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
|
{
|
|
mavlink_message_t msg;
|
|
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
|
uint16_t i;
|
|
mavlink_ahrs_t packet_in = {
|
|
17.0,
|
|
45.0,
|
|
73.0,
|
|
101.0,
|
|
129.0,
|
|
157.0,
|
|
185.0,
|
|
};
|
|
mavlink_ahrs_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.omegaIx = packet_in.omegaIx;
|
|
packet1.omegaIy = packet_in.omegaIy;
|
|
packet1.omegaIz = packet_in.omegaIz;
|
|
packet1.accel_weight = packet_in.accel_weight;
|
|
packet1.renorm_val = packet_in.renorm_val;
|
|
packet1.error_rp = packet_in.error_rp;
|
|
packet1.error_yaw = packet_in.error_yaw;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_ahrs_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_ahrs_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_ahrs_pack(system_id, component_id, &msg , packet1.omegaIx , packet1.omegaIy , packet1.omegaIz , packet1.accel_weight , packet1.renorm_val , packet1.error_rp , packet1.error_yaw );
|
|
mavlink_msg_ahrs_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_ahrs_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.omegaIx , packet1.omegaIy , packet1.omegaIz , packet1.accel_weight , packet1.renorm_val , packet1.error_rp , packet1.error_yaw );
|
|
mavlink_msg_ahrs_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_to_send_buffer(buffer, &msg);
|
|
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
|
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
|
}
|
|
mavlink_msg_ahrs_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_ahrs_send(MAVLINK_COMM_1 , packet1.omegaIx , packet1.omegaIy , packet1.omegaIz , packet1.accel_weight , packet1.renorm_val , packet1.error_rp , packet1.error_yaw );
|
|
mavlink_msg_ahrs_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_simstate(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
|
{
|
|
mavlink_message_t msg;
|
|
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
|
uint16_t i;
|
|
mavlink_simstate_t packet_in = {
|
|
17.0,
|
|
45.0,
|
|
73.0,
|
|
101.0,
|
|
129.0,
|
|
157.0,
|
|
185.0,
|
|
213.0,
|
|
241.0,
|
|
269.0,
|
|
297.0,
|
|
};
|
|
mavlink_simstate_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.roll = packet_in.roll;
|
|
packet1.pitch = packet_in.pitch;
|
|
packet1.yaw = packet_in.yaw;
|
|
packet1.xacc = packet_in.xacc;
|
|
packet1.yacc = packet_in.yacc;
|
|
packet1.zacc = packet_in.zacc;
|
|
packet1.xgyro = packet_in.xgyro;
|
|
packet1.ygyro = packet_in.ygyro;
|
|
packet1.zgyro = packet_in.zgyro;
|
|
packet1.lat = packet_in.lat;
|
|
packet1.lng = packet_in.lng;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_simstate_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_simstate_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_simstate_pack(system_id, component_id, &msg , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.lat , packet1.lng );
|
|
mavlink_msg_simstate_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_simstate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.lat , packet1.lng );
|
|
mavlink_msg_simstate_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_to_send_buffer(buffer, &msg);
|
|
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
|
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
|
}
|
|
mavlink_msg_simstate_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_simstate_send(MAVLINK_COMM_1 , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.lat , packet1.lng );
|
|
mavlink_msg_simstate_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_hwstatus(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
|
{
|
|
mavlink_message_t msg;
|
|
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
|
uint16_t i;
|
|
mavlink_hwstatus_t packet_in = {
|
|
17235,
|
|
139,
|
|
};
|
|
mavlink_hwstatus_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.Vcc = packet_in.Vcc;
|
|
packet1.I2Cerr = packet_in.I2Cerr;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hwstatus_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_hwstatus_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hwstatus_pack(system_id, component_id, &msg , packet1.Vcc , packet1.I2Cerr );
|
|
mavlink_msg_hwstatus_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hwstatus_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.Vcc , packet1.I2Cerr );
|
|
mavlink_msg_hwstatus_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_to_send_buffer(buffer, &msg);
|
|
for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
|
|
comm_send_ch(MAVLINK_COMM_0, buffer[i]);
|
|
}
|
|
mavlink_msg_hwstatus_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_hwstatus_send(MAVLINK_COMM_1 , packet1.Vcc , packet1.I2Cerr );
|
|
mavlink_msg_hwstatus_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_radio(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_t packet_in = {
|
|
17235,
|
|
17339,
|
|
17,
|
|
84,
|
|
151,
|
|
218,
|
|
29,
|
|
};
|
|
mavlink_radio_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_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_radio_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_radio_pack(system_id, component_id, &msg , packet1.rssi , packet1.remrssi , packet1.txbuf , packet1.noise , packet1.remnoise , packet1.rxerrors , packet1.fixed );
|
|
mavlink_msg_radio_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_radio_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_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_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_radio_send(MAVLINK_COMM_1 , packet1.rssi , packet1.remrssi , packet1.txbuf , packet1.noise , packet1.remnoise , packet1.rxerrors , packet1.fixed );
|
|
mavlink_msg_radio_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_limits_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_limits_status_t packet_in = {
|
|
963497464,
|
|
963497672,
|
|
963497880,
|
|
963498088,
|
|
18067,
|
|
187,
|
|
254,
|
|
65,
|
|
132,
|
|
};
|
|
mavlink_limits_status_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.last_trigger = packet_in.last_trigger;
|
|
packet1.last_action = packet_in.last_action;
|
|
packet1.last_recovery = packet_in.last_recovery;
|
|
packet1.last_clear = packet_in.last_clear;
|
|
packet1.breach_count = packet_in.breach_count;
|
|
packet1.limits_state = packet_in.limits_state;
|
|
packet1.mods_enabled = packet_in.mods_enabled;
|
|
packet1.mods_required = packet_in.mods_required;
|
|
packet1.mods_triggered = packet_in.mods_triggered;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_limits_status_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_limits_status_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_limits_status_pack(system_id, component_id, &msg , packet1.limits_state , packet1.last_trigger , packet1.last_action , packet1.last_recovery , packet1.last_clear , packet1.breach_count , packet1.mods_enabled , packet1.mods_required , packet1.mods_triggered );
|
|
mavlink_msg_limits_status_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_limits_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.limits_state , packet1.last_trigger , packet1.last_action , packet1.last_recovery , packet1.last_clear , packet1.breach_count , packet1.mods_enabled , packet1.mods_required , packet1.mods_triggered );
|
|
mavlink_msg_limits_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_limits_status_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_limits_status_send(MAVLINK_COMM_1 , packet1.limits_state , packet1.last_trigger , packet1.last_action , packet1.last_recovery , packet1.last_clear , packet1.breach_count , packet1.mods_enabled , packet1.mods_required , packet1.mods_triggered );
|
|
mavlink_msg_limits_status_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_wind(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_wind_t packet_in = {
|
|
17.0,
|
|
45.0,
|
|
73.0,
|
|
};
|
|
mavlink_wind_t packet1, packet2;
|
|
memset(&packet1, 0, sizeof(packet1));
|
|
packet1.direction = packet_in.direction;
|
|
packet1.speed = packet_in.speed;
|
|
packet1.speed_z = packet_in.speed_z;
|
|
|
|
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_wind_encode(system_id, component_id, &msg, &packet1);
|
|
mavlink_msg_wind_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_wind_pack(system_id, component_id, &msg , packet1.direction , packet1.speed , packet1.speed_z );
|
|
mavlink_msg_wind_decode(&msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_wind_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.direction , packet1.speed , packet1.speed_z );
|
|
mavlink_msg_wind_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_wind_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
|
|
memset(&packet2, 0, sizeof(packet2));
|
|
mavlink_msg_wind_send(MAVLINK_COMM_1 , packet1.direction , packet1.speed , packet1.speed_z );
|
|
mavlink_msg_wind_decode(last_msg, &packet2);
|
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
}
|
|
|
|
static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
|
{
|
|
mavlink_test_sensor_offsets(system_id, component_id, last_msg);
|
|
mavlink_test_set_mag_offsets(system_id, component_id, last_msg);
|
|
mavlink_test_meminfo(system_id, component_id, last_msg);
|
|
mavlink_test_ap_adc(system_id, component_id, last_msg);
|
|
mavlink_test_digicam_configure(system_id, component_id, last_msg);
|
|
mavlink_test_digicam_control(system_id, component_id, last_msg);
|
|
mavlink_test_mount_configure(system_id, component_id, last_msg);
|
|
mavlink_test_mount_control(system_id, component_id, last_msg);
|
|
mavlink_test_mount_status(system_id, component_id, last_msg);
|
|
mavlink_test_fence_point(system_id, component_id, last_msg);
|
|
mavlink_test_fence_fetch_point(system_id, component_id, last_msg);
|
|
mavlink_test_fence_status(system_id, component_id, last_msg);
|
|
mavlink_test_ahrs(system_id, component_id, last_msg);
|
|
mavlink_test_simstate(system_id, component_id, last_msg);
|
|
mavlink_test_hwstatus(system_id, component_id, last_msg);
|
|
mavlink_test_radio(system_id, component_id, last_msg);
|
|
mavlink_test_limits_status(system_id, component_id, last_msg);
|
|
mavlink_test_wind(system_id, component_id, last_msg);
|
|
}
|
|
|
|
#ifdef __cplusplus
|
|
}
|
|
#endif // __cplusplus
|
|
#endif // ARDUPILOTMEGA_TESTSUITE_H
|