diff options
Diffstat (limited to 'mavlink/include/mavlink/v1.0/common/testsuite.h')
| -rw-r--r-- | mavlink/include/mavlink/v1.0/common/testsuite.h | 5628 |
1 files changed, 0 insertions, 5628 deletions
diff --git a/mavlink/include/mavlink/v1.0/common/testsuite.h b/mavlink/include/mavlink/v1.0/common/testsuite.h deleted file mode 100644 index c5aa9ddf3..000000000 --- a/mavlink/include/mavlink/v1.0/common/testsuite.h +++ /dev/null @@ -1,5628 +0,0 @@ -/** @file - * @brief MAVLink comm protocol testsuite generated from common.xml - * @see http://qgroundcontrol.org/mavlink/ - */ -#ifndef COMMON_TESTSUITE_H -#define COMMON_TESTSUITE_H - -#ifdef __cplusplus -extern "C" { -#endif - -#ifndef MAVLINK_TEST_ALL -#define MAVLINK_TEST_ALL - -static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg); - -static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) -{ - - mavlink_test_common(system_id, component_id, last_msg); -} -#endif - - - - -static void mavlink_test_heartbeat(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_heartbeat_t packet_in = { - 963497464, - }17, - }84, - }151, - }218, - }3, - }; - mavlink_heartbeat_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - packet1.custom_mode = packet_in.custom_mode; - packet1.type = packet_in.type; - packet1.autopilot = packet_in.autopilot; - packet1.base_mode = packet_in.base_mode; - packet1.system_status = packet_in.system_status; - packet1.mavlink_version = packet_in.mavlink_version; - - - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_heartbeat_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_heartbeat_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_heartbeat_pack(system_id, component_id, &msg , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status ); - mavlink_msg_heartbeat_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - 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 ); - mavlink_msg_heartbeat_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_heartbeat_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_heartbeat_send(MAVLINK_COMM_1 , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status ); - mavlink_msg_heartbeat_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); -} - -static void mavlink_test_sys_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_sys_status_t packet_in = { - 963497464, - }963497672, - }963497880, - }17859, - }17963, - }18067, - }18171, - }18275, - }18379, - }18483, - }18587, - }18691, - }223, - }; - mavlink_sys_status_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - packet1.onboard_control_sensors_present = packet_in.onboard_control_sensors_present; - packet1.onboard_control_sensors_enabled = packet_in.onboard_control_sensors_enabled; - packet1.onboard_control_sensors_health = packet_in.onboard_control_sensors_health; - packet1.load = packet_in.load; - packet1.voltage_battery = packet_in.voltage_battery; - packet1.current_battery = packet_in.current_battery; - packet1.drop_rate_comm = packet_in.drop_rate_comm; - packet1.errors_comm = packet_in.errors_comm; - packet1.errors_count1 = packet_in.errors_count1; - packet1.errors_count2 = packet_in.errors_count2; - packet1.errors_count3 = packet_in.errors_count3; - packet1.errors_count4 = packet_in.errors_count4; - packet1.battery_remaining = packet_in.battery_remaining; - - - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_sys_status_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_sys_status_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - 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 ); - mavlink_msg_sys_status_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - 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 ); - mavlink_msg_sys_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_sys_status_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - 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 ); - mavlink_msg_sys_status_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); -} - -static void mavlink_test_system_time(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_system_time_t packet_in = { - 93372036854775807ULL, - }963497880, - }; - mavlink_system_time_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - packet1.time_unix_usec = packet_in.time_unix_usec; - packet1.time_boot_ms = packet_in.time_boot_ms; - - - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_system_time_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_system_time_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_system_time_pack(system_id, component_id, &msg , packet1.time_unix_usec , packet1.time_boot_ms ); - mavlink_msg_system_time_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_system_time_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_unix_usec , packet1.time_boot_ms ); - mavlink_msg_system_time_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_system_time_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_system_time_send(MAVLINK_COMM_1 , packet1.time_unix_usec , packet1.time_boot_ms ); - mavlink_msg_system_time_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); -} - -static void mavlink_test_ping(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_ping_t packet_in = { - 93372036854775807ULL, - }963497880, - }41, - }108, - }; - mavlink_ping_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - packet1.time_usec = packet_in.time_usec; - 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_ping_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_ping_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_ping_pack(system_id, component_id, &msg , packet1.time_usec , packet1.seq , packet1.target_system , packet1.target_component ); - mavlink_msg_ping_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_ping_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.seq , packet1.target_system , packet1.target_component ); - mavlink_msg_ping_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_ping_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_ping_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.seq , packet1.target_system , packet1.target_component ); - mavlink_msg_ping_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); -} - -static void mavlink_test_change_operator_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_change_operator_control_t packet_in = { - 5, - }72, - }139, - }"DEFGHIJKLMNOPQRSTUVWXYZA", - }; - mavlink_change_operator_control_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - packet1.target_system = packet_in.target_system; - packet1.control_request = packet_in.control_request; - packet1.version = packet_in.version; - - mav_array_memcpy(packet1.passkey, packet_in.passkey, sizeof(char)*25); - - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_change_operator_control_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_change_operator_control_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_change_operator_control_pack(system_id, component_id, &msg , packet1.target_system , packet1.control_request , packet1.version , packet1.passkey ); - mavlink_msg_change_operator_control_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - 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 ); - mavlink_msg_change_operator_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_change_operator_control_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_change_operator_control_send(MAVLINK_COMM_1 , packet1.target_system , packet1.control_request , packet1.version , packet1.passkey ); - mavlink_msg_change_operator_control_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); -} - -static void mavlink_test_change_operator_control_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_change_operator_control_ack_t packet_in = { - 5, - }72, - }139, - }; - mavlink_change_operator_control_ack_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - packet1.gcs_system_id = packet_in.gcs_system_id; - packet1.control_request = packet_in.control_request; - packet1.ack = packet_in.ack; - - - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_change_operator_control_ack_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_change_operator_control_ack_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_change_operator_control_ack_pack(system_id, component_id, &msg , packet1.gcs_system_id , packet1.control_request , packet1.ack ); - mavlink_msg_change_operator_control_ack_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - 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 ); - mavlink_msg_change_operator_control_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_change_operator_control_ack_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_change_operator_control_ack_send(MAVLINK_COMM_1 , packet1.gcs_system_id , packet1.control_request , packet1.ack ); - mavlink_msg_change_operator_control_ack_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); -} - -static void mavlink_test_auth_key(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_auth_key_t packet_in = { - "ABCDEFGHIJKLMNOPQRSTUVWXYZABCDE", - }; - mavlink_auth_key_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - - mav_array_memcpy(packet1.key, packet_in.key, sizeof(char)*32); - - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_auth_key_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_auth_key_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_auth_key_pack(system_id, component_id, &msg , packet1.key ); - mavlink_msg_auth_key_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_auth_key_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.key ); - mavlink_msg_auth_key_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_auth_key_decode(last_msg, &packet2); - 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_set_local_position_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_set_local_position_setpoint_t packet_in = { - 17.0, - }45.0, - }73.0, - }101.0, - }53, - }120, - }187, - }; - mavlink_set_local_position_setpoint_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - packet1.x = packet_in.x; - packet1.y = packet_in.y; - packet1.z = packet_in.z; - packet1.yaw = packet_in.yaw; - 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_local_position_setpoint_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_set_local_position_setpoint_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_local_position_setpoint_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.coordinate_frame , packet1.x , packet1.y , packet1.z , packet1.yaw ); - mavlink_msg_set_local_position_setpoint_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_local_position_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.coordinate_frame , packet1.x , packet1.y , packet1.z , packet1.yaw ); - mavlink_msg_set_local_position_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_set_local_position_setpoint_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_local_position_setpoint_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.coordinate_frame , packet1.x , packet1.y , packet1.z , packet1.yaw ); - mavlink_msg_set_local_position_setpoint_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); -} - -static void mavlink_test_local_position_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_local_position_setpoint_t packet_in = { - 17.0, - }45.0, - }73.0, - }101.0, - }53, - }; - mavlink_local_position_setpoint_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - packet1.x = packet_in.x; - packet1.y = packet_in.y; - packet1.z = packet_in.z; - packet1.yaw = packet_in.yaw; - packet1.coordinate_frame = packet_in.coordinate_frame; - - - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_local_position_setpoint_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_local_position_setpoint_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_local_position_setpoint_pack(system_id, component_id, &msg , packet1.coordinate_frame , packet1.x , packet1.y , packet1.z , packet1.yaw ); - mavlink_msg_local_position_setpoint_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_local_position_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.coordinate_frame , packet1.x , packet1.y , packet1.z , packet1.yaw ); - mavlink_msg_local_position_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_local_position_setpoint_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_local_position_setpoint_send(MAVLINK_COMM_1 , packet1.coordinate_frame , packet1.x , packet1.y , packet1.z , packet1.yaw ); - mavlink_msg_local_position_setpoint_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); -} - -static void mavlink_test_global_position_setpoint_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_setpoint_int_t packet_in = { - 963497464, - }963497672, - }963497880, - }17859, - }175, - }; - mavlink_global_position_setpoint_int_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - packet1.latitude = packet_in.latitude; - packet1.longitude = packet_in.longitude; - packet1.altitude = packet_in.altitude; - packet1.yaw = packet_in.yaw; - packet1.coordinate_frame = packet_in.coordinate_frame; - - - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_global_position_setpoint_int_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_global_position_setpoint_int_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_global_position_setpoint_int_pack(system_id, component_id, &msg , packet1.coordinate_frame , packet1.latitude , packet1.longitude , packet1.altitude , packet1.yaw ); - mavlink_msg_global_position_setpoint_int_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_global_position_setpoint_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.coordinate_frame , packet1.latitude , packet1.longitude , packet1.altitude , packet1.yaw ); - mavlink_msg_global_position_setpoint_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_setpoint_int_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_global_position_setpoint_int_send(MAVLINK_COMM_1 , packet1.coordinate_frame , packet1.latitude , packet1.longitude , packet1.altitude , packet1.yaw ); - mavlink_msg_global_position_setpoint_int_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); -} - -static void mavlink_test_set_global_position_setpoint_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_global_position_setpoint_int_t packet_in = { - 963497464, - }963497672, - }963497880, - }17859, - }175, - }; - mavlink_set_global_position_setpoint_int_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - packet1.latitude = packet_in.latitude; - packet1.longitude = packet_in.longitude; - packet1.altitude = packet_in.altitude; - packet1.yaw = packet_in.yaw; - packet1.coordinate_frame = packet_in.coordinate_frame; - - - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_global_position_setpoint_int_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_set_global_position_setpoint_int_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_global_position_setpoint_int_pack(system_id, component_id, &msg , packet1.coordinate_frame , packet1.latitude , packet1.longitude , packet1.altitude , packet1.yaw ); - mavlink_msg_set_global_position_setpoint_int_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_global_position_setpoint_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.coordinate_frame , packet1.latitude , packet1.longitude , packet1.altitude , packet1.yaw ); - mavlink_msg_set_global_position_setpoint_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_global_position_setpoint_int_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_global_position_setpoint_int_send(MAVLINK_COMM_1 , packet1.coordinate_frame , packet1.latitude , packet1.longitude , packet1.altitude , packet1.yaw ); - mavlink_msg_set_global_position_setpoint_int_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_set_roll_pitch_yaw_thrust(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_roll_pitch_yaw_thrust_t packet_in = { - 17.0, - }45.0, - }73.0, - }101.0, - }53, - }120, - }; - mavlink_set_roll_pitch_yaw_thrust_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - packet1.roll = packet_in.roll; - packet1.pitch = packet_in.pitch; - packet1.yaw = packet_in.yaw; - packet1.thrust = packet_in.thrust; - packet1.target_system = packet_in.target_system; - packet1.target_component = packet_in.target_component; - - - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_roll_pitch_yaw_thrust_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_set_roll_pitch_yaw_thrust_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_roll_pitch_yaw_thrust_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust ); - mavlink_msg_set_roll_pitch_yaw_thrust_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_roll_pitch_yaw_thrust_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust ); - mavlink_msg_set_roll_pitch_yaw_thrust_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_roll_pitch_yaw_thrust_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_roll_pitch_yaw_thrust_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust ); - mavlink_msg_set_roll_pitch_yaw_thrust_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); -} - -static void mavlink_test_set_roll_pitch_yaw_speed_thrust(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_roll_pitch_yaw_speed_thrust_t packet_in = { - 17.0, - }45.0, - }73.0, - }101.0, - }53, - }120, - }; - mavlink_set_roll_pitch_yaw_speed_thrust_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - packet1.roll_speed = packet_in.roll_speed; - packet1.pitch_speed = packet_in.pitch_speed; - packet1.yaw_speed = packet_in.yaw_speed; - packet1.thrust = packet_in.thrust; - packet1.target_system = packet_in.target_system; - packet1.target_component = packet_in.target_component; - - - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_roll_pitch_yaw_speed_thrust_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_set_roll_pitch_yaw_speed_thrust_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.roll_speed , packet1.pitch_speed , packet1.yaw_speed , packet1.thrust ); - mavlink_msg_set_roll_pitch_yaw_speed_thrust_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_roll_pitch_yaw_speed_thrust_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.roll_speed , packet1.pitch_speed , packet1.yaw_speed , packet1.thrust ); - mavlink_msg_set_roll_pitch_yaw_speed_thrust_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_roll_pitch_yaw_speed_thrust_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_roll_pitch_yaw_speed_thrust_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.roll_speed , packet1.pitch_speed , packet1.yaw_speed , packet1.thrust ); - mavlink_msg_set_roll_pitch_yaw_speed_thrust_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); -} - -static void mavlink_test_roll_pitch_yaw_thrust_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_roll_pitch_yaw_thrust_setpoint_t packet_in = { - 963497464, - }45.0, - }73.0, - }101.0, - }129.0, - }; - mavlink_roll_pitch_yaw_thrust_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; - - - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_roll_pitch_yaw_thrust_setpoint_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust ); - mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust ); - mavlink_msg_roll_pitch_yaw_thrust_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_roll_pitch_yaw_thrust_setpoint_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust ); - mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); -} - -static void mavlink_test_roll_pitch_yaw_speed_thrust_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_roll_pitch_yaw_speed_thrust_setpoint_t packet_in = { - 963497464, - }45.0, - }73.0, - }101.0, - }129.0, - }; - mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - packet1.time_boot_ms = packet_in.time_boot_ms; - packet1.roll_speed = packet_in.roll_speed; - packet1.pitch_speed = packet_in.pitch_speed; - packet1.yaw_speed = packet_in.yaw_speed; - packet1.thrust = packet_in.thrust; - - - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.roll_speed , packet1.pitch_speed , packet1.yaw_speed , packet1.thrust ); - mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.roll_speed , packet1.pitch_speed , packet1.yaw_speed , packet1.thrust ); - mavlink_msg_roll_pitch_yaw_speed_thrust_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_roll_pitch_yaw_speed_thrust_setpoint_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.roll_speed , packet1.pitch_speed , packet1.yaw_speed , packet1.thrust ); - mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); -} - -static void mavlink_test_set_quad_motors_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_set_quad_motors_setpoint_t packet_in = { - 17235, - }17339, - }17443, - }17547, - }29, - }; - mavlink_set_quad_motors_setpoint_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - packet1.motor_front_nw = packet_in.motor_front_nw; - packet1.motor_right_ne = packet_in.motor_right_ne; - packet1.motor_back_se = packet_in.motor_back_se; - packet1.motor_left_sw = packet_in.motor_left_sw; - packet1.target_system = packet_in.target_system; - - - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_quad_motors_setpoint_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_set_quad_motors_setpoint_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_quad_motors_setpoint_pack(system_id, component_id, &msg , packet1.target_system , packet1.motor_front_nw , packet1.motor_right_ne , packet1.motor_back_se , packet1.motor_left_sw ); - mavlink_msg_set_quad_motors_setpoint_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_quad_motors_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.motor_front_nw , packet1.motor_right_ne , packet1.motor_back_se , packet1.motor_left_sw ); - mavlink_msg_set_quad_motors_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_set_quad_motors_setpoint_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_quad_motors_setpoint_send(MAVLINK_COMM_1 , packet1.target_system , packet1.motor_front_nw , packet1.motor_right_ne , packet1.motor_back_se , packet1.motor_left_sw ); - mavlink_msg_set_quad_motors_setpoint_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); -} - -static void mavlink_test_set_quad_swarm_roll_pitch_yaw_thrust(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_quad_swarm_roll_pitch_yaw_thrust_t packet_in = { - { 17235, 17236, 17237, 17238 }, - }{ 17651, 17652, 17653, 17654 }, - }{ 18067, 18068, 18069, 18070 }, - }{ 18483, 18484, 18485, 18486 }, - }101, - }168, - }; - mavlink_set_quad_swarm_roll_pitch_yaw_thrust_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - packet1.group = packet_in.group; - packet1.mode = packet_in.mode; - - mav_array_memcpy(packet1.roll, packet_in.roll, sizeof(int16_t)*4); - mav_array_memcpy(packet1.pitch, packet_in.pitch, sizeof(int16_t)*4); - mav_array_memcpy(packet1.yaw, packet_in.yaw, sizeof(int16_t)*4); - mav_array_memcpy(packet1.thrust, packet_in.thrust, sizeof(uint16_t)*4); - - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_pack(system_id, component_id, &msg , packet1.group , packet1.mode , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust ); - mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.group , packet1.mode , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust ); - mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_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_quad_swarm_roll_pitch_yaw_thrust_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_send(MAVLINK_COMM_1 , packet1.group , packet1.mode , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust ); - mavlink_msg_set_quad_swarm_roll_pitch_yaw_thrust_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_set_quad_swarm_led_roll_pitch_yaw_thrust(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_quad_swarm_led_roll_pitch_yaw_thrust_t packet_in = { - { 17235, 17236, 17237, 17238 }, - }{ 17651, 17652, 17653, 17654 }, - }{ 18067, 18068, 18069, 18070 }, - }{ 18483, 18484, 18485, 18486 }, - }101, - }168, - }{ 235, 236, 237, 238 }, - }{ 247, 248, 249, 250 }, - }{ 3, 4, 5, 6 }, - }; - mavlink_set_quad_swarm_led_roll_pitch_yaw_thrust_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - packet1.group = packet_in.group; - packet1.mode = packet_in.mode; - - mav_array_memcpy(packet1.roll, packet_in.roll, sizeof(int16_t)*4); - mav_array_memcpy(packet1.pitch, packet_in.pitch, sizeof(int16_t)*4); - mav_array_memcpy(packet1.yaw, packet_in.yaw, sizeof(int16_t)*4); - mav_array_memcpy(packet1.thrust, packet_in.thrust, sizeof(uint16_t)*4); - mav_array_memcpy(packet1.led_red, packet_in.led_red, sizeof(uint8_t)*4); - mav_array_memcpy(packet1.led_blue, packet_in.led_blue, sizeof(uint8_t)*4); - mav_array_memcpy(packet1.led_green, packet_in.led_green, sizeof(uint8_t)*4); - - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_pack(system_id, component_id, &msg , packet1.group , packet1.mode , packet1.led_red , packet1.led_blue , packet1.led_green , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust ); - mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.group , packet1.mode , packet1.led_red , packet1.led_blue , packet1.led_green , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust ); - mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_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_quad_swarm_led_roll_pitch_yaw_thrust_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_send(MAVLINK_COMM_1 , packet1.group , packet1.mode , packet1.led_red , packet1.led_blue , packet1.led_green , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust ); - mavlink_msg_set_quad_swarm_led_roll_pitch_yaw_thrust_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); -} - -static void mavlink_test_state_correction(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_state_correction_t packet_in = { - 17.0, - }45.0, - }73.0, - }101.0, - }129.0, - }157.0, - }185.0, - }213.0, - }241.0, - }; - mavlink_state_correction_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - packet1.xErr = packet_in.xErr; - packet1.yErr = packet_in.yErr; - packet1.zErr = packet_in.zErr; - packet1.rollErr = packet_in.rollErr; - packet1.pitchErr = packet_in.pitchErr; - packet1.yawErr = packet_in.yawErr; - packet1.vxErr = packet_in.vxErr; - packet1.vyErr = packet_in.vyErr; - packet1.vzErr = packet_in.vzErr; - - - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_state_correction_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_state_correction_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_state_correction_pack(system_id, component_id, &msg , packet1.xErr , packet1.yErr , packet1.zErr , packet1.rollErr , packet1.pitchErr , packet1.yawErr , packet1.vxErr , packet1.vyErr , packet1.vzErr ); - mavlink_msg_state_correction_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_state_correction_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.xErr , packet1.yErr , packet1.zErr , packet1.rollErr , packet1.pitchErr , packet1.yawErr , packet1.vxErr , packet1.vyErr , packet1.vzErr ); - mavlink_msg_state_correction_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_state_correction_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_state_correction_send(MAVLINK_COMM_1 , packet1.xErr , packet1.yErr , packet1.zErr , packet1.rollErr , packet1.pitchErr , packet1.yawErr , packet1.vxErr , packet1.vyErr , packet1.vzErr ); - mavlink_msg_state_correction_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_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_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_roll_pitch_yaw_rates_thrust_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_roll_pitch_yaw_rates_thrust_setpoint_t packet_in = { - 963497464, - }45.0, - }73.0, - }101.0, - }129.0, - }; - mavlink_roll_pitch_yaw_rates_thrust_setpoint_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - packet1.time_boot_ms = packet_in.time_boot_ms; - packet1.roll_rate = packet_in.roll_rate; - packet1.pitch_rate = packet_in.pitch_rate; - packet1.yaw_rate = packet_in.yaw_rate; - packet1.thrust = packet_in.thrust; - - - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.roll_rate , packet1.pitch_rate , packet1.yaw_rate , packet1.thrust ); - mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.roll_rate , packet1.pitch_rate , packet1.yaw_rate , packet1.thrust ); - mavlink_msg_roll_pitch_yaw_rates_thrust_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_roll_pitch_yaw_rates_thrust_setpoint_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.roll_rate , packet1.pitch_rate , packet1.yaw_rate , packet1.thrust ); - mavlink_msg_roll_pitch_yaw_rates_thrust_setpoint_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_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_omnidirectional_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_omnidirectional_flow_t packet_in = { - 93372036854775807ULL, - }73.0, - }{ 17859, 17860, 17861, 17862, 17863, 17864, 17865, 17866, 17867, 17868 }, - }{ 18899, 18900, 18901, 18902, 18903, 18904, 18905, 18906, 18907, 18908 }, - }161, - }228, - }; - mavlink_omnidirectional_flow_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - packet1.time_usec = packet_in.time_usec; - packet1.front_distance_m = packet_in.front_distance_m; - packet1.sensor_id = packet_in.sensor_id; - packet1.quality = packet_in.quality; - - mav_array_memcpy(packet1.left, packet_in.left, sizeof(int16_t)*10); - mav_array_memcpy(packet1.right, packet_in.right, sizeof(int16_t)*10); - - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_omnidirectional_flow_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_omnidirectional_flow_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_omnidirectional_flow_pack(system_id, component_id, &msg , packet1.time_usec , packet1.sensor_id , packet1.left , packet1.right , packet1.quality , packet1.front_distance_m ); - mavlink_msg_omnidirectional_flow_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_omnidirectional_flow_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.sensor_id , packet1.left , packet1.right , packet1.quality , packet1.front_distance_m ); - mavlink_msg_omnidirectional_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_omnidirectional_flow_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_omnidirectional_flow_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.sensor_id , packet1.left , packet1.right , packet1.quality , packet1.front_distance_m ); - mavlink_msg_omnidirectional_flow_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_start(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_start_t packet_in = { - 93372036854775807ULL, - }963497880, - }"MNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQ", - }249, - }60, - }; - mavlink_file_transfer_start_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - packet1.transfer_uid = packet_in.transfer_uid; - packet1.file_size = packet_in.file_size; - packet1.direction = packet_in.direction; - packet1.flags = packet_in.flags; - - mav_array_memcpy(packet1.dest_path, packet_in.dest_path, sizeof(char)*240); - - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_file_transfer_start_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_file_transfer_start_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_file_transfer_start_pack(system_id, component_id, &msg , packet1.transfer_uid , packet1.dest_path , packet1.direction , packet1.file_size , packet1.flags ); - mavlink_msg_file_transfer_start_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_file_transfer_start_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.transfer_uid , packet1.dest_path , packet1.direction , packet1.file_size , packet1.flags ); - mavlink_msg_file_transfer_start_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_start_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_file_transfer_start_send(MAVLINK_COMM_1 , packet1.transfer_uid , packet1.dest_path , packet1.direction , packet1.file_size , packet1.flags ); - mavlink_msg_file_transfer_start_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); -} - -static void mavlink_test_file_transfer_dir_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_file_transfer_dir_list_t packet_in = { - 93372036854775807ULL, - }"IJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLM", - }237, - }; - mavlink_file_transfer_dir_list_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - packet1.transfer_uid = packet_in.transfer_uid; - packet1.flags = packet_in.flags; - - mav_array_memcpy(packet1.dir_path, packet_in.dir_path, sizeof(char)*240); - - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_file_transfer_dir_list_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_file_transfer_dir_list_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_file_transfer_dir_list_pack(system_id, component_id, &msg , packet1.transfer_uid , packet1.dir_path , packet1.flags ); - mavlink_msg_file_transfer_dir_list_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_file_transfer_dir_list_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.transfer_uid , packet1.dir_path , packet1.flags ); - mavlink_msg_file_transfer_dir_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_file_transfer_dir_list_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_file_transfer_dir_list_send(MAVLINK_COMM_1 , packet1.transfer_uid , packet1.dir_path , packet1.flags ); - mavlink_msg_file_transfer_dir_list_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); -} - -static void mavlink_test_file_transfer_res(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_res_t packet_in = { - 93372036854775807ULL, - }29, - }; - mavlink_file_transfer_res_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - packet1.transfer_uid = packet_in.transfer_uid; - packet1.result = packet_in.result; - - - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_file_transfer_res_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_file_transfer_res_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_file_transfer_res_pack(system_id, component_id, &msg , packet1.transfer_uid , packet1.result ); - mavlink_msg_file_transfer_res_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_file_transfer_res_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.transfer_uid , packet1.result ); - mavlink_msg_file_transfer_res_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_res_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_file_transfer_res_send(MAVLINK_COMM_1 , packet1.transfer_uid , packet1.result ); - mavlink_msg_file_transfer_res_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, - }73.0, - }101.0, - }129.0, - }18275, - }18379, - }77, - }144, - }; - mavlink_hil_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_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.flow_x , packet1.flow_y , packet1.flow_comp_m_x , packet1.flow_comp_m_y , packet1.quality , packet1.ground_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.flow_x , packet1.flow_y , packet1.flow_comp_m_x , packet1.flow_comp_m_y , packet1.quality , packet1.ground_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.flow_x , packet1.flow_y , packet1.flow_comp_m_x , packet1.flow_comp_m_y , packet1.quality , packet1.ground_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_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_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, - }17859, - }17963, - }18067, - }18171, - }18275, - }199, - }10, - }; - 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.voltage_cell_1 = packet_in.voltage_cell_1; - packet1.voltage_cell_2 = packet_in.voltage_cell_2; - packet1.voltage_cell_3 = packet_in.voltage_cell_3; - packet1.voltage_cell_4 = packet_in.voltage_cell_4; - packet1.voltage_cell_5 = packet_in.voltage_cell_5; - packet1.voltage_cell_6 = packet_in.voltage_cell_6; - packet1.current_battery = packet_in.current_battery; - packet1.accu_id = packet_in.accu_id; - packet1.battery_remaining = packet_in.battery_remaining; - - - - 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.accu_id , packet1.voltage_cell_1 , packet1.voltage_cell_2 , packet1.voltage_cell_3 , packet1.voltage_cell_4 , packet1.voltage_cell_5 , packet1.voltage_cell_6 , 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.accu_id , packet1.voltage_cell_1 , packet1.voltage_cell_2 , packet1.voltage_cell_3 , packet1.voltage_cell_4 , packet1.voltage_cell_5 , packet1.voltage_cell_6 , 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.accu_id , packet1.voltage_cell_1 , packet1.voltage_cell_2 , packet1.voltage_cell_3 , packet1.voltage_cell_4 , packet1.voltage_cell_5 , packet1.voltage_cell_6 , 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_setpoint_8dof(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_setpoint_8dof_t packet_in = { - 17.0, - }45.0, - }73.0, - }101.0, - }129.0, - }157.0, - }185.0, - }213.0, - }101, - }; - mavlink_setpoint_8dof_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - packet1.val1 = packet_in.val1; - packet1.val2 = packet_in.val2; - packet1.val3 = packet_in.val3; - packet1.val4 = packet_in.val4; - packet1.val5 = packet_in.val5; - packet1.val6 = packet_in.val6; - packet1.val7 = packet_in.val7; - packet1.val8 = packet_in.val8; - packet1.target_system = packet_in.target_system; - - - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_setpoint_8dof_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_setpoint_8dof_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_setpoint_8dof_pack(system_id, component_id, &msg , packet1.target_system , packet1.val1 , packet1.val2 , packet1.val3 , packet1.val4 , packet1.val5 , packet1.val6 , packet1.val7 , packet1.val8 ); - mavlink_msg_setpoint_8dof_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_setpoint_8dof_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.val1 , packet1.val2 , packet1.val3 , packet1.val4 , packet1.val5 , packet1.val6 , packet1.val7 , packet1.val8 ); - mavlink_msg_setpoint_8dof_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_setpoint_8dof_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_setpoint_8dof_send(MAVLINK_COMM_1 , packet1.target_system , packet1.val1 , packet1.val2 , packet1.val3 , packet1.val4 , packet1.val5 , packet1.val6 , packet1.val7 , packet1.val8 ); - mavlink_msg_setpoint_8dof_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); -} - -static void mavlink_test_setpoint_6dof(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_setpoint_6dof_t packet_in = { - 17.0, - }45.0, - }73.0, - }101.0, - }129.0, - }157.0, - }77, - }; - mavlink_setpoint_6dof_t packet1, packet2; - memset(&packet1, 0, sizeof(packet1)); - packet1.trans_x = packet_in.trans_x; - packet1.trans_y = packet_in.trans_y; - packet1.trans_z = packet_in.trans_z; - packet1.rot_x = packet_in.rot_x; - packet1.rot_y = packet_in.rot_y; - packet1.rot_z = packet_in.rot_z; - packet1.target_system = packet_in.target_system; - - - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_setpoint_6dof_encode(system_id, component_id, &msg, &packet1); - mavlink_msg_setpoint_6dof_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_setpoint_6dof_pack(system_id, component_id, &msg , packet1.target_system , packet1.trans_x , packet1.trans_y , packet1.trans_z , packet1.rot_x , packet1.rot_y , packet1.rot_z ); - mavlink_msg_setpoint_6dof_decode(&msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_setpoint_6dof_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.trans_x , packet1.trans_y , packet1.trans_z , packet1.rot_x , packet1.rot_y , packet1.rot_z ); - mavlink_msg_setpoint_6dof_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_setpoint_6dof_decode(last_msg, &packet2); - MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); - - memset(&packet2, 0, sizeof(packet2)); - mavlink_msg_setpoint_6dof_send(MAVLINK_COMM_1 , packet1.target_system , packet1.trans_x , packet1.trans_y , packet1.trans_z , packet1.rot_x , packet1.rot_y , packet1.rot_z ); - mavlink_msg_setpoint_6dof_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_set_local_position_setpoint(system_id, component_id, last_msg); - mavlink_test_local_position_setpoint(system_id, component_id, last_msg); - mavlink_test_global_position_setpoint_int(system_id, component_id, last_msg); - mavlink_test_set_global_position_setpoint_int(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_set_roll_pitch_yaw_thrust(system_id, component_id, last_msg); - mavlink_test_set_roll_pitch_yaw_speed_thrust(system_id, component_id, last_msg); - mavlink_test_roll_pitch_yaw_thrust_setpoint(system_id, component_id, last_msg); - mavlink_test_roll_pitch_yaw_speed_thrust_setpoint(system_id, component_id, last_msg); - mavlink_test_set_quad_motors_setpoint(system_id, component_id, last_msg); - mavlink_test_set_quad_swarm_roll_pitch_yaw_thrust(system_id, component_id, last_msg); - mavlink_test_nav_controller_output(system_id, component_id, last_msg); - mavlink_test_set_quad_swarm_led_roll_pitch_yaw_thrust(system_id, component_id, last_msg); - mavlink_test_state_correction(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_vfr_hud(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_roll_pitch_yaw_rates_thrust_setpoint(system_id, component_id, last_msg); - mavlink_test_manual_setpoint(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_omnidirectional_flow(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_start(system_id, component_id, last_msg); - mavlink_test_file_transfer_dir_list(system_id, component_id, last_msg); - mavlink_test_file_transfer_res(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_data_transmission_handshake(system_id, component_id, last_msg); - mavlink_test_encapsulated_data(system_id, component_id, last_msg); - mavlink_test_battery_status(system_id, component_id, last_msg); - mavlink_test_setpoint_8dof(system_id, component_id, last_msg); - mavlink_test_setpoint_6dof(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 |