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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1702 | - | 1 | /** @file |
| 2 | * @brief MAVLink comm protocol testsuite generated from ardupilotmega.xml |
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| 3 | * @see http://qgroundcontrol.org/mavlink/ |
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| 4 | */ |
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| 5 | #ifndef ARDUPILOTMEGA_TESTSUITE_H |
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| 6 | #define ARDUPILOTMEGA_TESTSUITE_H |
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| 7 | |||
| 8 | #ifdef __cplusplus |
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| 9 | extern "C" { |
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| 10 | #endif |
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| 11 | |||
| 12 | #ifndef MAVLINK_TEST_ALL |
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| 13 | #define MAVLINK_TEST_ALL |
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| 14 | static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg); |
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| 15 | static void mavlink_test_ardupilotmega(uint8_t, uint8_t, mavlink_message_t *last_msg); |
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| 16 | |||
| 17 | static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
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| 18 | { |
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| 19 | mavlink_test_common(system_id, component_id, last_msg); |
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| 20 | mavlink_test_ardupilotmega(system_id, component_id, last_msg); |
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| 21 | } |
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| 22 | #endif |
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| 23 | |||
| 24 | #include "../common/testsuite.h" |
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| 25 | |||
| 26 | |||
| 27 | static void mavlink_test_sensor_offsets(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
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| 28 | { |
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| 29 | mavlink_message_t msg; |
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| 30 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
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| 31 | uint16_t i; |
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| 32 | mavlink_sensor_offsets_t packet_in = { |
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| 33 | 17235, |
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| 34 | 17339, |
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| 35 | 17443, |
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| 36 | 59.0, |
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| 37 | 963497984, |
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| 38 | 963498192, |
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| 39 | 143.0, |
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| 40 | 171.0, |
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| 41 | 199.0, |
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| 42 | 227.0, |
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| 43 | 255.0, |
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| 44 | 283.0, |
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| 45 | }; |
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| 46 | mavlink_sensor_offsets_t packet1, packet2; |
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| 47 | memset(&packet1, 0, sizeof(packet1)); |
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| 48 | packet1.mag_ofs_x = packet_in.mag_ofs_x; |
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| 49 | packet1.mag_ofs_y = packet_in.mag_ofs_y; |
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| 50 | packet1.mag_ofs_z = packet_in.mag_ofs_z; |
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| 51 | packet1.mag_declination = packet_in.mag_declination; |
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| 52 | packet1.raw_press = packet_in.raw_press; |
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| 53 | packet1.raw_temp = packet_in.raw_temp; |
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| 54 | packet1.gyro_cal_x = packet_in.gyro_cal_x; |
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| 55 | packet1.gyro_cal_y = packet_in.gyro_cal_y; |
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| 56 | packet1.gyro_cal_z = packet_in.gyro_cal_z; |
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| 57 | packet1.accel_cal_x = packet_in.accel_cal_x; |
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| 58 | packet1.accel_cal_y = packet_in.accel_cal_y; |
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| 59 | packet1.accel_cal_z = packet_in.accel_cal_z; |
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| 60 | |||
| 61 | |||
| 62 | |||
| 63 | memset(&packet2, 0, sizeof(packet2)); |
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| 64 | mavlink_msg_sensor_offsets_encode(system_id, component_id, &msg, &packet1); |
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| 65 | mavlink_msg_sensor_offsets_decode(&msg, &packet2); |
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| 66 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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| 67 | |||
| 68 | memset(&packet2, 0, sizeof(packet2)); |
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| 69 | mavlink_msg_sensor_offsets_pack(system_id, component_id, &msg , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z ); |
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| 70 | mavlink_msg_sensor_offsets_decode(&msg, &packet2); |
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| 71 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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| 72 | |||
| 73 | memset(&packet2, 0, sizeof(packet2)); |
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| 74 | mavlink_msg_sensor_offsets_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z ); |
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| 75 | mavlink_msg_sensor_offsets_decode(&msg, &packet2); |
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| 76 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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| 77 | |||
| 78 | memset(&packet2, 0, sizeof(packet2)); |
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| 79 | mavlink_msg_to_send_buffer(buffer, &msg); |
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| 80 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
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| 81 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
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| 82 | } |
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| 83 | mavlink_msg_sensor_offsets_decode(last_msg, &packet2); |
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| 84 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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| 85 | |||
| 86 | memset(&packet2, 0, sizeof(packet2)); |
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| 87 | mavlink_msg_sensor_offsets_send(MAVLINK_COMM_1 , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z , packet1.mag_declination , packet1.raw_press , packet1.raw_temp , packet1.gyro_cal_x , packet1.gyro_cal_y , packet1.gyro_cal_z , packet1.accel_cal_x , packet1.accel_cal_y , packet1.accel_cal_z ); |
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| 88 | mavlink_msg_sensor_offsets_decode(last_msg, &packet2); |
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| 89 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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| 90 | } |
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| 91 | |||
| 92 | static void mavlink_test_set_mag_offsets(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
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| 93 | { |
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| 94 | mavlink_message_t msg; |
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| 95 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
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| 96 | uint16_t i; |
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| 97 | mavlink_set_mag_offsets_t packet_in = { |
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| 98 | 5, |
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| 99 | 72, |
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| 100 | 17339, |
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| 101 | 17443, |
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| 102 | 17547, |
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| 103 | }; |
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| 104 | mavlink_set_mag_offsets_t packet1, packet2; |
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| 105 | memset(&packet1, 0, sizeof(packet1)); |
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| 106 | packet1.target_system = packet_in.target_system; |
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| 107 | packet1.target_component = packet_in.target_component; |
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| 108 | packet1.mag_ofs_x = packet_in.mag_ofs_x; |
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| 109 | packet1.mag_ofs_y = packet_in.mag_ofs_y; |
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| 110 | packet1.mag_ofs_z = packet_in.mag_ofs_z; |
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| 111 | |||
| 112 | |||
| 113 | |||
| 114 | memset(&packet2, 0, sizeof(packet2)); |
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| 115 | mavlink_msg_set_mag_offsets_encode(system_id, component_id, &msg, &packet1); |
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| 116 | mavlink_msg_set_mag_offsets_decode(&msg, &packet2); |
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| 117 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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| 118 | |||
| 119 | memset(&packet2, 0, sizeof(packet2)); |
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| 120 | mavlink_msg_set_mag_offsets_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z ); |
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| 121 | mavlink_msg_set_mag_offsets_decode(&msg, &packet2); |
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| 122 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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| 123 | |||
| 124 | memset(&packet2, 0, sizeof(packet2)); |
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| 125 | mavlink_msg_set_mag_offsets_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z ); |
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| 126 | mavlink_msg_set_mag_offsets_decode(&msg, &packet2); |
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| 127 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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| 128 | |||
| 129 | memset(&packet2, 0, sizeof(packet2)); |
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| 130 | mavlink_msg_to_send_buffer(buffer, &msg); |
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| 131 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
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| 132 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
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| 133 | } |
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| 134 | mavlink_msg_set_mag_offsets_decode(last_msg, &packet2); |
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| 135 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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| 136 | |||
| 137 | memset(&packet2, 0, sizeof(packet2)); |
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| 138 | mavlink_msg_set_mag_offsets_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.mag_ofs_x , packet1.mag_ofs_y , packet1.mag_ofs_z ); |
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| 139 | mavlink_msg_set_mag_offsets_decode(last_msg, &packet2); |
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| 140 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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| 141 | } |
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| 142 | |||
| 143 | static void mavlink_test_meminfo(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
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| 144 | { |
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| 145 | mavlink_message_t msg; |
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| 146 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
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| 147 | uint16_t i; |
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| 148 | mavlink_meminfo_t packet_in = { |
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| 149 | 17235, |
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| 150 | 17339, |
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| 151 | }; |
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| 152 | mavlink_meminfo_t packet1, packet2; |
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| 153 | memset(&packet1, 0, sizeof(packet1)); |
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| 154 | packet1.brkval = packet_in.brkval; |
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| 155 | packet1.freemem = packet_in.freemem; |
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| 156 | |||
| 157 | |||
| 158 | |||
| 159 | memset(&packet2, 0, sizeof(packet2)); |
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| 160 | mavlink_msg_meminfo_encode(system_id, component_id, &msg, &packet1); |
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| 161 | mavlink_msg_meminfo_decode(&msg, &packet2); |
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| 162 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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| 163 | |||
| 164 | memset(&packet2, 0, sizeof(packet2)); |
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| 165 | mavlink_msg_meminfo_pack(system_id, component_id, &msg , packet1.brkval , packet1.freemem ); |
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| 166 | mavlink_msg_meminfo_decode(&msg, &packet2); |
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| 167 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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| 168 | |||
| 169 | memset(&packet2, 0, sizeof(packet2)); |
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| 170 | mavlink_msg_meminfo_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.brkval , packet1.freemem ); |
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| 171 | mavlink_msg_meminfo_decode(&msg, &packet2); |
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| 172 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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| 173 | |||
| 174 | memset(&packet2, 0, sizeof(packet2)); |
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| 175 | mavlink_msg_to_send_buffer(buffer, &msg); |
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| 176 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
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| 177 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
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| 178 | } |
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| 179 | mavlink_msg_meminfo_decode(last_msg, &packet2); |
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| 180 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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| 181 | |||
| 182 | memset(&packet2, 0, sizeof(packet2)); |
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| 183 | mavlink_msg_meminfo_send(MAVLINK_COMM_1 , packet1.brkval , packet1.freemem ); |
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| 184 | mavlink_msg_meminfo_decode(last_msg, &packet2); |
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| 185 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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| 186 | } |
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| 187 | |||
| 188 | static void mavlink_test_ap_adc(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
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| 189 | { |
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| 190 | mavlink_message_t msg; |
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| 191 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
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| 192 | uint16_t i; |
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| 193 | mavlink_ap_adc_t packet_in = { |
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| 194 | 17235, |
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| 195 | 17339, |
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| 196 | 17443, |
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| 197 | 17547, |
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| 198 | 17651, |
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| 199 | 17755, |
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| 200 | }; |
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| 201 | mavlink_ap_adc_t packet1, packet2; |
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| 202 | memset(&packet1, 0, sizeof(packet1)); |
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| 203 | packet1.adc1 = packet_in.adc1; |
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| 204 | packet1.adc2 = packet_in.adc2; |
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| 205 | packet1.adc3 = packet_in.adc3; |
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| 206 | packet1.adc4 = packet_in.adc4; |
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| 207 | packet1.adc5 = packet_in.adc5; |
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| 208 | packet1.adc6 = packet_in.adc6; |
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| 209 | |||
| 210 | |||
| 211 | |||
| 212 | memset(&packet2, 0, sizeof(packet2)); |
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| 213 | mavlink_msg_ap_adc_encode(system_id, component_id, &msg, &packet1); |
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| 214 | mavlink_msg_ap_adc_decode(&msg, &packet2); |
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| 215 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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| 216 | |||
| 217 | memset(&packet2, 0, sizeof(packet2)); |
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| 218 | mavlink_msg_ap_adc_pack(system_id, component_id, &msg , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 ); |
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| 219 | mavlink_msg_ap_adc_decode(&msg, &packet2); |
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| 220 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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| 221 | |||
| 222 | memset(&packet2, 0, sizeof(packet2)); |
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| 223 | mavlink_msg_ap_adc_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 ); |
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| 224 | mavlink_msg_ap_adc_decode(&msg, &packet2); |
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| 225 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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| 226 | |||
| 227 | memset(&packet2, 0, sizeof(packet2)); |
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| 228 | mavlink_msg_to_send_buffer(buffer, &msg); |
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| 229 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
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| 230 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
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| 231 | } |
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| 232 | mavlink_msg_ap_adc_decode(last_msg, &packet2); |
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| 233 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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| 234 | |||
| 235 | memset(&packet2, 0, sizeof(packet2)); |
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| 236 | mavlink_msg_ap_adc_send(MAVLINK_COMM_1 , packet1.adc1 , packet1.adc2 , packet1.adc3 , packet1.adc4 , packet1.adc5 , packet1.adc6 ); |
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| 237 | mavlink_msg_ap_adc_decode(last_msg, &packet2); |
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| 238 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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| 239 | } |
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| 240 | |||
| 241 | static void mavlink_test_digicam_configure(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
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| 242 | { |
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| 243 | mavlink_message_t msg; |
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| 244 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
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| 245 | uint16_t i; |
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| 246 | mavlink_digicam_configure_t packet_in = { |
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| 247 | 5, |
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| 248 | 72, |
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| 249 | 139, |
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| 250 | 17391, |
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| 251 | 84, |
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| 252 | 151, |
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| 253 | 218, |
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| 254 | 29, |
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| 255 | 96, |
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| 256 | 163, |
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| 257 | 94.0, |
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| 258 | }; |
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| 259 | mavlink_digicam_configure_t packet1, packet2; |
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| 260 | memset(&packet1, 0, sizeof(packet1)); |
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| 261 | packet1.target_system = packet_in.target_system; |
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| 262 | packet1.target_component = packet_in.target_component; |
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| 263 | packet1.mode = packet_in.mode; |
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| 264 | packet1.shutter_speed = packet_in.shutter_speed; |
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| 265 | packet1.aperture = packet_in.aperture; |
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| 266 | packet1.iso = packet_in.iso; |
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| 267 | packet1.exposure_type = packet_in.exposure_type; |
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| 268 | packet1.command_id = packet_in.command_id; |
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| 269 | packet1.engine_cut_off = packet_in.engine_cut_off; |
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| 270 | packet1.extra_param = packet_in.extra_param; |
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| 271 | packet1.extra_value = packet_in.extra_value; |
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| 272 | |||
| 273 | |||
| 274 | |||
| 275 | memset(&packet2, 0, sizeof(packet2)); |
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| 276 | mavlink_msg_digicam_configure_encode(system_id, component_id, &msg, &packet1); |
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| 277 | mavlink_msg_digicam_configure_decode(&msg, &packet2); |
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| 278 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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| 279 | |||
| 280 | memset(&packet2, 0, sizeof(packet2)); |
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| 281 | mavlink_msg_digicam_configure_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.mode , packet1.shutter_speed , packet1.aperture , packet1.iso , packet1.exposure_type , packet1.command_id , packet1.engine_cut_off , packet1.extra_param , packet1.extra_value ); |
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| 282 | mavlink_msg_digicam_configure_decode(&msg, &packet2); |
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| 283 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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| 284 | |||
| 285 | memset(&packet2, 0, sizeof(packet2)); |
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| 286 | mavlink_msg_digicam_configure_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.mode , packet1.shutter_speed , packet1.aperture , packet1.iso , packet1.exposure_type , packet1.command_id , packet1.engine_cut_off , packet1.extra_param , packet1.extra_value ); |
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| 287 | mavlink_msg_digicam_configure_decode(&msg, &packet2); |
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| 288 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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| 289 | |||
| 290 | memset(&packet2, 0, sizeof(packet2)); |
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| 291 | mavlink_msg_to_send_buffer(buffer, &msg); |
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| 292 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
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| 293 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
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| 294 | } |
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| 295 | mavlink_msg_digicam_configure_decode(last_msg, &packet2); |
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| 296 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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| 297 | |||
| 298 | memset(&packet2, 0, sizeof(packet2)); |
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| 299 | mavlink_msg_digicam_configure_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.mode , packet1.shutter_speed , packet1.aperture , packet1.iso , packet1.exposure_type , packet1.command_id , packet1.engine_cut_off , packet1.extra_param , packet1.extra_value ); |
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| 300 | mavlink_msg_digicam_configure_decode(last_msg, &packet2); |
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| 301 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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| 302 | } |
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| 303 | |||
| 304 | static void mavlink_test_digicam_control(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
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| 305 | { |
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| 306 | mavlink_message_t msg; |
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| 307 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
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| 308 | uint16_t i; |
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| 309 | mavlink_digicam_control_t packet_in = { |
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| 310 | 5, |
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| 311 | 72, |
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| 312 | 139, |
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| 313 | 206, |
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| 314 | 17, |
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| 315 | 84, |
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| 316 | 151, |
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| 317 | 218, |
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| 318 | 29, |
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| 319 | 80.0, |
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| 320 | }; |
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| 321 | mavlink_digicam_control_t packet1, packet2; |
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| 322 | memset(&packet1, 0, sizeof(packet1)); |
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| 323 | packet1.target_system = packet_in.target_system; |
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| 324 | packet1.target_component = packet_in.target_component; |
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| 325 | packet1.session = packet_in.session; |
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| 326 | packet1.zoom_pos = packet_in.zoom_pos; |
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| 327 | packet1.zoom_step = packet_in.zoom_step; |
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| 328 | packet1.focus_lock = packet_in.focus_lock; |
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| 329 | packet1.shot = packet_in.shot; |
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| 330 | packet1.command_id = packet_in.command_id; |
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| 331 | packet1.extra_param = packet_in.extra_param; |
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| 332 | packet1.extra_value = packet_in.extra_value; |
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| 333 | |||
| 334 | |||
| 335 | |||
| 336 | memset(&packet2, 0, sizeof(packet2)); |
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| 337 | mavlink_msg_digicam_control_encode(system_id, component_id, &msg, &packet1); |
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| 338 | mavlink_msg_digicam_control_decode(&msg, &packet2); |
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| 339 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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| 340 | |||
| 341 | memset(&packet2, 0, sizeof(packet2)); |
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| 342 | mavlink_msg_digicam_control_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.session , packet1.zoom_pos , packet1.zoom_step , packet1.focus_lock , packet1.shot , packet1.command_id , packet1.extra_param , packet1.extra_value ); |
||
| 343 | mavlink_msg_digicam_control_decode(&msg, &packet2); |
||
| 344 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 345 | |||
| 346 | memset(&packet2, 0, sizeof(packet2)); |
||
| 347 | mavlink_msg_digicam_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.session , packet1.zoom_pos , packet1.zoom_step , packet1.focus_lock , packet1.shot , packet1.command_id , packet1.extra_param , packet1.extra_value ); |
||
| 348 | mavlink_msg_digicam_control_decode(&msg, &packet2); |
||
| 349 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 350 | |||
| 351 | memset(&packet2, 0, sizeof(packet2)); |
||
| 352 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
| 353 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
| 354 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
| 355 | } |
||
| 356 | mavlink_msg_digicam_control_decode(last_msg, &packet2); |
||
| 357 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 358 | |||
| 359 | memset(&packet2, 0, sizeof(packet2)); |
||
| 360 | mavlink_msg_digicam_control_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.session , packet1.zoom_pos , packet1.zoom_step , packet1.focus_lock , packet1.shot , packet1.command_id , packet1.extra_param , packet1.extra_value ); |
||
| 361 | mavlink_msg_digicam_control_decode(last_msg, &packet2); |
||
| 362 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 363 | } |
||
| 364 | |||
| 365 | static void mavlink_test_mount_configure(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
| 366 | { |
||
| 367 | mavlink_message_t msg; |
||
| 368 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
| 369 | uint16_t i; |
||
| 370 | mavlink_mount_configure_t packet_in = { |
||
| 371 | 5, |
||
| 372 | 72, |
||
| 373 | 139, |
||
| 374 | 206, |
||
| 375 | 17, |
||
| 376 | 84, |
||
| 377 | }; |
||
| 378 | mavlink_mount_configure_t packet1, packet2; |
||
| 379 | memset(&packet1, 0, sizeof(packet1)); |
||
| 380 | packet1.target_system = packet_in.target_system; |
||
| 381 | packet1.target_component = packet_in.target_component; |
||
| 382 | packet1.mount_mode = packet_in.mount_mode; |
||
| 383 | packet1.stab_roll = packet_in.stab_roll; |
||
| 384 | packet1.stab_pitch = packet_in.stab_pitch; |
||
| 385 | packet1.stab_yaw = packet_in.stab_yaw; |
||
| 386 | |||
| 387 | |||
| 388 | |||
| 389 | memset(&packet2, 0, sizeof(packet2)); |
||
| 390 | mavlink_msg_mount_configure_encode(system_id, component_id, &msg, &packet1); |
||
| 391 | mavlink_msg_mount_configure_decode(&msg, &packet2); |
||
| 392 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 393 | |||
| 394 | memset(&packet2, 0, sizeof(packet2)); |
||
| 395 | mavlink_msg_mount_configure_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.mount_mode , packet1.stab_roll , packet1.stab_pitch , packet1.stab_yaw ); |
||
| 396 | mavlink_msg_mount_configure_decode(&msg, &packet2); |
||
| 397 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 398 | |||
| 399 | memset(&packet2, 0, sizeof(packet2)); |
||
| 400 | mavlink_msg_mount_configure_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.mount_mode , packet1.stab_roll , packet1.stab_pitch , packet1.stab_yaw ); |
||
| 401 | mavlink_msg_mount_configure_decode(&msg, &packet2); |
||
| 402 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 403 | |||
| 404 | memset(&packet2, 0, sizeof(packet2)); |
||
| 405 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
| 406 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
| 407 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
| 408 | } |
||
| 409 | mavlink_msg_mount_configure_decode(last_msg, &packet2); |
||
| 410 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 411 | |||
| 412 | memset(&packet2, 0, sizeof(packet2)); |
||
| 413 | mavlink_msg_mount_configure_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.mount_mode , packet1.stab_roll , packet1.stab_pitch , packet1.stab_yaw ); |
||
| 414 | mavlink_msg_mount_configure_decode(last_msg, &packet2); |
||
| 415 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 416 | } |
||
| 417 | |||
| 418 | static void mavlink_test_mount_control(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
| 419 | { |
||
| 420 | mavlink_message_t msg; |
||
| 421 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
| 422 | uint16_t i; |
||
| 423 | mavlink_mount_control_t packet_in = { |
||
| 424 | 5, |
||
| 425 | 72, |
||
| 426 | 963497568, |
||
| 427 | 963497776, |
||
| 428 | 963497984, |
||
| 429 | 175, |
||
| 430 | }; |
||
| 431 | mavlink_mount_control_t packet1, packet2; |
||
| 432 | memset(&packet1, 0, sizeof(packet1)); |
||
| 433 | packet1.target_system = packet_in.target_system; |
||
| 434 | packet1.target_component = packet_in.target_component; |
||
| 435 | packet1.input_a = packet_in.input_a; |
||
| 436 | packet1.input_b = packet_in.input_b; |
||
| 437 | packet1.input_c = packet_in.input_c; |
||
| 438 | packet1.save_position = packet_in.save_position; |
||
| 439 | |||
| 440 | |||
| 441 | |||
| 442 | memset(&packet2, 0, sizeof(packet2)); |
||
| 443 | mavlink_msg_mount_control_encode(system_id, component_id, &msg, &packet1); |
||
| 444 | mavlink_msg_mount_control_decode(&msg, &packet2); |
||
| 445 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 446 | |||
| 447 | memset(&packet2, 0, sizeof(packet2)); |
||
| 448 | mavlink_msg_mount_control_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.input_a , packet1.input_b , packet1.input_c , packet1.save_position ); |
||
| 449 | mavlink_msg_mount_control_decode(&msg, &packet2); |
||
| 450 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 451 | |||
| 452 | memset(&packet2, 0, sizeof(packet2)); |
||
| 453 | mavlink_msg_mount_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.input_a , packet1.input_b , packet1.input_c , packet1.save_position ); |
||
| 454 | mavlink_msg_mount_control_decode(&msg, &packet2); |
||
| 455 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 456 | |||
| 457 | memset(&packet2, 0, sizeof(packet2)); |
||
| 458 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
| 459 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
| 460 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
| 461 | } |
||
| 462 | mavlink_msg_mount_control_decode(last_msg, &packet2); |
||
| 463 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 464 | |||
| 465 | memset(&packet2, 0, sizeof(packet2)); |
||
| 466 | mavlink_msg_mount_control_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.input_a , packet1.input_b , packet1.input_c , packet1.save_position ); |
||
| 467 | mavlink_msg_mount_control_decode(last_msg, &packet2); |
||
| 468 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 469 | } |
||
| 470 | |||
| 471 | static void mavlink_test_mount_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
| 472 | { |
||
| 473 | mavlink_message_t msg; |
||
| 474 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
| 475 | uint16_t i; |
||
| 476 | mavlink_mount_status_t packet_in = { |
||
| 477 | 5, |
||
| 478 | 72, |
||
| 479 | 963497568, |
||
| 480 | 963497776, |
||
| 481 | 963497984, |
||
| 482 | }; |
||
| 483 | mavlink_mount_status_t packet1, packet2; |
||
| 484 | memset(&packet1, 0, sizeof(packet1)); |
||
| 485 | packet1.target_system = packet_in.target_system; |
||
| 486 | packet1.target_component = packet_in.target_component; |
||
| 487 | packet1.pointing_a = packet_in.pointing_a; |
||
| 488 | packet1.pointing_b = packet_in.pointing_b; |
||
| 489 | packet1.pointing_c = packet_in.pointing_c; |
||
| 490 | |||
| 491 | |||
| 492 | |||
| 493 | memset(&packet2, 0, sizeof(packet2)); |
||
| 494 | mavlink_msg_mount_status_encode(system_id, component_id, &msg, &packet1); |
||
| 495 | mavlink_msg_mount_status_decode(&msg, &packet2); |
||
| 496 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 497 | |||
| 498 | memset(&packet2, 0, sizeof(packet2)); |
||
| 499 | mavlink_msg_mount_status_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.pointing_a , packet1.pointing_b , packet1.pointing_c ); |
||
| 500 | mavlink_msg_mount_status_decode(&msg, &packet2); |
||
| 501 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 502 | |||
| 503 | memset(&packet2, 0, sizeof(packet2)); |
||
| 504 | mavlink_msg_mount_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.pointing_a , packet1.pointing_b , packet1.pointing_c ); |
||
| 505 | mavlink_msg_mount_status_decode(&msg, &packet2); |
||
| 506 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 507 | |||
| 508 | memset(&packet2, 0, sizeof(packet2)); |
||
| 509 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
| 510 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
| 511 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
| 512 | } |
||
| 513 | mavlink_msg_mount_status_decode(last_msg, &packet2); |
||
| 514 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 515 | |||
| 516 | memset(&packet2, 0, sizeof(packet2)); |
||
| 517 | mavlink_msg_mount_status_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.pointing_a , packet1.pointing_b , packet1.pointing_c ); |
||
| 518 | mavlink_msg_mount_status_decode(last_msg, &packet2); |
||
| 519 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 520 | } |
||
| 521 | |||
| 522 | static void mavlink_test_fence_point(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
| 523 | { |
||
| 524 | mavlink_message_t msg; |
||
| 525 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
| 526 | uint16_t i; |
||
| 527 | mavlink_fence_point_t packet_in = { |
||
| 528 | 5, |
||
| 529 | 72, |
||
| 530 | 139, |
||
| 531 | 206, |
||
| 532 | 45.0, |
||
| 533 | 73.0, |
||
| 534 | }; |
||
| 535 | mavlink_fence_point_t packet1, packet2; |
||
| 536 | memset(&packet1, 0, sizeof(packet1)); |
||
| 537 | packet1.target_system = packet_in.target_system; |
||
| 538 | packet1.target_component = packet_in.target_component; |
||
| 539 | packet1.idx = packet_in.idx; |
||
| 540 | packet1.count = packet_in.count; |
||
| 541 | packet1.lat = packet_in.lat; |
||
| 542 | packet1.lng = packet_in.lng; |
||
| 543 | |||
| 544 | |||
| 545 | |||
| 546 | memset(&packet2, 0, sizeof(packet2)); |
||
| 547 | mavlink_msg_fence_point_encode(system_id, component_id, &msg, &packet1); |
||
| 548 | mavlink_msg_fence_point_decode(&msg, &packet2); |
||
| 549 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 550 | |||
| 551 | memset(&packet2, 0, sizeof(packet2)); |
||
| 552 | mavlink_msg_fence_point_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng ); |
||
| 553 | mavlink_msg_fence_point_decode(&msg, &packet2); |
||
| 554 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 555 | |||
| 556 | memset(&packet2, 0, sizeof(packet2)); |
||
| 557 | mavlink_msg_fence_point_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng ); |
||
| 558 | mavlink_msg_fence_point_decode(&msg, &packet2); |
||
| 559 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 560 | |||
| 561 | memset(&packet2, 0, sizeof(packet2)); |
||
| 562 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
| 563 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
| 564 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
| 565 | } |
||
| 566 | mavlink_msg_fence_point_decode(last_msg, &packet2); |
||
| 567 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 568 | |||
| 569 | memset(&packet2, 0, sizeof(packet2)); |
||
| 570 | mavlink_msg_fence_point_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.idx , packet1.count , packet1.lat , packet1.lng ); |
||
| 571 | mavlink_msg_fence_point_decode(last_msg, &packet2); |
||
| 572 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 573 | } |
||
| 574 | |||
| 575 | static void mavlink_test_fence_fetch_point(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
| 576 | { |
||
| 577 | mavlink_message_t msg; |
||
| 578 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
| 579 | uint16_t i; |
||
| 580 | mavlink_fence_fetch_point_t packet_in = { |
||
| 581 | 5, |
||
| 582 | 72, |
||
| 583 | 139, |
||
| 584 | }; |
||
| 585 | mavlink_fence_fetch_point_t packet1, packet2; |
||
| 586 | memset(&packet1, 0, sizeof(packet1)); |
||
| 587 | packet1.target_system = packet_in.target_system; |
||
| 588 | packet1.target_component = packet_in.target_component; |
||
| 589 | packet1.idx = packet_in.idx; |
||
| 590 | |||
| 591 | |||
| 592 | |||
| 593 | memset(&packet2, 0, sizeof(packet2)); |
||
| 594 | mavlink_msg_fence_fetch_point_encode(system_id, component_id, &msg, &packet1); |
||
| 595 | mavlink_msg_fence_fetch_point_decode(&msg, &packet2); |
||
| 596 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 597 | |||
| 598 | memset(&packet2, 0, sizeof(packet2)); |
||
| 599 | mavlink_msg_fence_fetch_point_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.idx ); |
||
| 600 | mavlink_msg_fence_fetch_point_decode(&msg, &packet2); |
||
| 601 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 602 | |||
| 603 | memset(&packet2, 0, sizeof(packet2)); |
||
| 604 | mavlink_msg_fence_fetch_point_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.idx ); |
||
| 605 | mavlink_msg_fence_fetch_point_decode(&msg, &packet2); |
||
| 606 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 607 | |||
| 608 | memset(&packet2, 0, sizeof(packet2)); |
||
| 609 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
| 610 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
| 611 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
| 612 | } |
||
| 613 | mavlink_msg_fence_fetch_point_decode(last_msg, &packet2); |
||
| 614 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 615 | |||
| 616 | memset(&packet2, 0, sizeof(packet2)); |
||
| 617 | mavlink_msg_fence_fetch_point_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.idx ); |
||
| 618 | mavlink_msg_fence_fetch_point_decode(last_msg, &packet2); |
||
| 619 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 620 | } |
||
| 621 | |||
| 622 | static void mavlink_test_fence_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
| 623 | { |
||
| 624 | mavlink_message_t msg; |
||
| 625 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
| 626 | uint16_t i; |
||
| 627 | mavlink_fence_status_t packet_in = { |
||
| 628 | 5, |
||
| 629 | 17287, |
||
| 630 | 206, |
||
| 631 | 963497672, |
||
| 632 | }; |
||
| 633 | mavlink_fence_status_t packet1, packet2; |
||
| 634 | memset(&packet1, 0, sizeof(packet1)); |
||
| 635 | packet1.breach_status = packet_in.breach_status; |
||
| 636 | packet1.breach_count = packet_in.breach_count; |
||
| 637 | packet1.breach_type = packet_in.breach_type; |
||
| 638 | packet1.breach_time = packet_in.breach_time; |
||
| 639 | |||
| 640 | |||
| 641 | |||
| 642 | memset(&packet2, 0, sizeof(packet2)); |
||
| 643 | mavlink_msg_fence_status_encode(system_id, component_id, &msg, &packet1); |
||
| 644 | mavlink_msg_fence_status_decode(&msg, &packet2); |
||
| 645 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 646 | |||
| 647 | memset(&packet2, 0, sizeof(packet2)); |
||
| 648 | mavlink_msg_fence_status_pack(system_id, component_id, &msg , packet1.breach_status , packet1.breach_count , packet1.breach_type , packet1.breach_time ); |
||
| 649 | mavlink_msg_fence_status_decode(&msg, &packet2); |
||
| 650 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 651 | |||
| 652 | memset(&packet2, 0, sizeof(packet2)); |
||
| 653 | mavlink_msg_fence_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.breach_status , packet1.breach_count , packet1.breach_type , packet1.breach_time ); |
||
| 654 | mavlink_msg_fence_status_decode(&msg, &packet2); |
||
| 655 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 656 | |||
| 657 | memset(&packet2, 0, sizeof(packet2)); |
||
| 658 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
| 659 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
| 660 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
| 661 | } |
||
| 662 | mavlink_msg_fence_status_decode(last_msg, &packet2); |
||
| 663 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 664 | |||
| 665 | memset(&packet2, 0, sizeof(packet2)); |
||
| 666 | mavlink_msg_fence_status_send(MAVLINK_COMM_1 , packet1.breach_status , packet1.breach_count , packet1.breach_type , packet1.breach_time ); |
||
| 667 | mavlink_msg_fence_status_decode(last_msg, &packet2); |
||
| 668 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 669 | } |
||
| 670 | |||
| 671 | static void mavlink_test_ahrs(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
| 672 | { |
||
| 673 | mavlink_message_t msg; |
||
| 674 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
| 675 | uint16_t i; |
||
| 676 | mavlink_ahrs_t packet_in = { |
||
| 677 | 17.0, |
||
| 678 | 45.0, |
||
| 679 | 73.0, |
||
| 680 | 101.0, |
||
| 681 | 129.0, |
||
| 682 | 157.0, |
||
| 683 | 185.0, |
||
| 684 | }; |
||
| 685 | mavlink_ahrs_t packet1, packet2; |
||
| 686 | memset(&packet1, 0, sizeof(packet1)); |
||
| 687 | packet1.omegaIx = packet_in.omegaIx; |
||
| 688 | packet1.omegaIy = packet_in.omegaIy; |
||
| 689 | packet1.omegaIz = packet_in.omegaIz; |
||
| 690 | packet1.accel_weight = packet_in.accel_weight; |
||
| 691 | packet1.renorm_val = packet_in.renorm_val; |
||
| 692 | packet1.error_rp = packet_in.error_rp; |
||
| 693 | packet1.error_yaw = packet_in.error_yaw; |
||
| 694 | |||
| 695 | |||
| 696 | |||
| 697 | memset(&packet2, 0, sizeof(packet2)); |
||
| 698 | mavlink_msg_ahrs_encode(system_id, component_id, &msg, &packet1); |
||
| 699 | mavlink_msg_ahrs_decode(&msg, &packet2); |
||
| 700 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 701 | |||
| 702 | memset(&packet2, 0, sizeof(packet2)); |
||
| 703 | mavlink_msg_ahrs_pack(system_id, component_id, &msg , packet1.omegaIx , packet1.omegaIy , packet1.omegaIz , packet1.accel_weight , packet1.renorm_val , packet1.error_rp , packet1.error_yaw ); |
||
| 704 | mavlink_msg_ahrs_decode(&msg, &packet2); |
||
| 705 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 706 | |||
| 707 | memset(&packet2, 0, sizeof(packet2)); |
||
| 708 | mavlink_msg_ahrs_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.omegaIx , packet1.omegaIy , packet1.omegaIz , packet1.accel_weight , packet1.renorm_val , packet1.error_rp , packet1.error_yaw ); |
||
| 709 | mavlink_msg_ahrs_decode(&msg, &packet2); |
||
| 710 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 711 | |||
| 712 | memset(&packet2, 0, sizeof(packet2)); |
||
| 713 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
| 714 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
| 715 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
| 716 | } |
||
| 717 | mavlink_msg_ahrs_decode(last_msg, &packet2); |
||
| 718 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 719 | |||
| 720 | memset(&packet2, 0, sizeof(packet2)); |
||
| 721 | mavlink_msg_ahrs_send(MAVLINK_COMM_1 , packet1.omegaIx , packet1.omegaIy , packet1.omegaIz , packet1.accel_weight , packet1.renorm_val , packet1.error_rp , packet1.error_yaw ); |
||
| 722 | mavlink_msg_ahrs_decode(last_msg, &packet2); |
||
| 723 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 724 | } |
||
| 725 | |||
| 726 | static void mavlink_test_simstate(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
| 727 | { |
||
| 728 | mavlink_message_t msg; |
||
| 729 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
| 730 | uint16_t i; |
||
| 731 | mavlink_simstate_t packet_in = { |
||
| 732 | 17.0, |
||
| 733 | 45.0, |
||
| 734 | 73.0, |
||
| 735 | 101.0, |
||
| 736 | 129.0, |
||
| 737 | 157.0, |
||
| 738 | 185.0, |
||
| 739 | 213.0, |
||
| 740 | 241.0, |
||
| 741 | }; |
||
| 742 | mavlink_simstate_t packet1, packet2; |
||
| 743 | memset(&packet1, 0, sizeof(packet1)); |
||
| 744 | packet1.roll = packet_in.roll; |
||
| 745 | packet1.pitch = packet_in.pitch; |
||
| 746 | packet1.yaw = packet_in.yaw; |
||
| 747 | packet1.xacc = packet_in.xacc; |
||
| 748 | packet1.yacc = packet_in.yacc; |
||
| 749 | packet1.zacc = packet_in.zacc; |
||
| 750 | packet1.xgyro = packet_in.xgyro; |
||
| 751 | packet1.ygyro = packet_in.ygyro; |
||
| 752 | packet1.zgyro = packet_in.zgyro; |
||
| 753 | |||
| 754 | |||
| 755 | |||
| 756 | memset(&packet2, 0, sizeof(packet2)); |
||
| 757 | mavlink_msg_simstate_encode(system_id, component_id, &msg, &packet1); |
||
| 758 | mavlink_msg_simstate_decode(&msg, &packet2); |
||
| 759 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 760 | |||
| 761 | memset(&packet2, 0, sizeof(packet2)); |
||
| 762 | mavlink_msg_simstate_pack(system_id, component_id, &msg , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro ); |
||
| 763 | mavlink_msg_simstate_decode(&msg, &packet2); |
||
| 764 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 765 | |||
| 766 | memset(&packet2, 0, sizeof(packet2)); |
||
| 767 | mavlink_msg_simstate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro ); |
||
| 768 | mavlink_msg_simstate_decode(&msg, &packet2); |
||
| 769 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 770 | |||
| 771 | memset(&packet2, 0, sizeof(packet2)); |
||
| 772 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
| 773 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
| 774 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
| 775 | } |
||
| 776 | mavlink_msg_simstate_decode(last_msg, &packet2); |
||
| 777 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 778 | |||
| 779 | memset(&packet2, 0, sizeof(packet2)); |
||
| 780 | mavlink_msg_simstate_send(MAVLINK_COMM_1 , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro ); |
||
| 781 | mavlink_msg_simstate_decode(last_msg, &packet2); |
||
| 782 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 783 | } |
||
| 784 | |||
| 785 | static void mavlink_test_hwstatus(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
| 786 | { |
||
| 787 | mavlink_message_t msg; |
||
| 788 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
| 789 | uint16_t i; |
||
| 790 | mavlink_hwstatus_t packet_in = { |
||
| 791 | 17235, |
||
| 792 | 139, |
||
| 793 | }; |
||
| 794 | mavlink_hwstatus_t packet1, packet2; |
||
| 795 | memset(&packet1, 0, sizeof(packet1)); |
||
| 796 | packet1.Vcc = packet_in.Vcc; |
||
| 797 | packet1.I2Cerr = packet_in.I2Cerr; |
||
| 798 | |||
| 799 | |||
| 800 | |||
| 801 | memset(&packet2, 0, sizeof(packet2)); |
||
| 802 | mavlink_msg_hwstatus_encode(system_id, component_id, &msg, &packet1); |
||
| 803 | mavlink_msg_hwstatus_decode(&msg, &packet2); |
||
| 804 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 805 | |||
| 806 | memset(&packet2, 0, sizeof(packet2)); |
||
| 807 | mavlink_msg_hwstatus_pack(system_id, component_id, &msg , packet1.Vcc , packet1.I2Cerr ); |
||
| 808 | mavlink_msg_hwstatus_decode(&msg, &packet2); |
||
| 809 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 810 | |||
| 811 | memset(&packet2, 0, sizeof(packet2)); |
||
| 812 | mavlink_msg_hwstatus_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.Vcc , packet1.I2Cerr ); |
||
| 813 | mavlink_msg_hwstatus_decode(&msg, &packet2); |
||
| 814 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 815 | |||
| 816 | memset(&packet2, 0, sizeof(packet2)); |
||
| 817 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
| 818 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
| 819 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
| 820 | } |
||
| 821 | mavlink_msg_hwstatus_decode(last_msg, &packet2); |
||
| 822 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 823 | |||
| 824 | memset(&packet2, 0, sizeof(packet2)); |
||
| 825 | mavlink_msg_hwstatus_send(MAVLINK_COMM_1 , packet1.Vcc , packet1.I2Cerr ); |
||
| 826 | mavlink_msg_hwstatus_decode(last_msg, &packet2); |
||
| 827 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 828 | } |
||
| 829 | |||
| 830 | static void mavlink_test_radio(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
| 831 | { |
||
| 832 | mavlink_message_t msg; |
||
| 833 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
| 834 | uint16_t i; |
||
| 835 | mavlink_radio_t packet_in = { |
||
| 836 | 5, |
||
| 837 | 72, |
||
| 838 | 139, |
||
| 839 | 206, |
||
| 840 | 17, |
||
| 841 | 17495, |
||
| 842 | 17599, |
||
| 843 | }; |
||
| 844 | mavlink_radio_t packet1, packet2; |
||
| 845 | memset(&packet1, 0, sizeof(packet1)); |
||
| 846 | packet1.rssi = packet_in.rssi; |
||
| 847 | packet1.remrssi = packet_in.remrssi; |
||
| 848 | packet1.txbuf = packet_in.txbuf; |
||
| 849 | packet1.noise = packet_in.noise; |
||
| 850 | packet1.remnoise = packet_in.remnoise; |
||
| 851 | packet1.rxerrors = packet_in.rxerrors; |
||
| 852 | packet1.fixed = packet_in.fixed; |
||
| 853 | |||
| 854 | |||
| 855 | |||
| 856 | memset(&packet2, 0, sizeof(packet2)); |
||
| 857 | mavlink_msg_radio_encode(system_id, component_id, &msg, &packet1); |
||
| 858 | mavlink_msg_radio_decode(&msg, &packet2); |
||
| 859 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 860 | |||
| 861 | memset(&packet2, 0, sizeof(packet2)); |
||
| 862 | mavlink_msg_radio_pack(system_id, component_id, &msg , packet1.rssi , packet1.remrssi , packet1.txbuf , packet1.noise , packet1.remnoise , packet1.rxerrors , packet1.fixed ); |
||
| 863 | mavlink_msg_radio_decode(&msg, &packet2); |
||
| 864 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 865 | |||
| 866 | memset(&packet2, 0, sizeof(packet2)); |
||
| 867 | mavlink_msg_radio_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.rssi , packet1.remrssi , packet1.txbuf , packet1.noise , packet1.remnoise , packet1.rxerrors , packet1.fixed ); |
||
| 868 | mavlink_msg_radio_decode(&msg, &packet2); |
||
| 869 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 870 | |||
| 871 | memset(&packet2, 0, sizeof(packet2)); |
||
| 872 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
| 873 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
| 874 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
| 875 | } |
||
| 876 | mavlink_msg_radio_decode(last_msg, &packet2); |
||
| 877 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 878 | |||
| 879 | memset(&packet2, 0, sizeof(packet2)); |
||
| 880 | mavlink_msg_radio_send(MAVLINK_COMM_1 , packet1.rssi , packet1.remrssi , packet1.txbuf , packet1.noise , packet1.remnoise , packet1.rxerrors , packet1.fixed ); |
||
| 881 | mavlink_msg_radio_decode(last_msg, &packet2); |
||
| 882 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
| 883 | } |
||
| 884 | |||
| 885 | static void mavlink_test_ardupilotmega(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
| 886 | { |
||
| 887 | mavlink_test_sensor_offsets(system_id, component_id, last_msg); |
||
| 888 | mavlink_test_set_mag_offsets(system_id, component_id, last_msg); |
||
| 889 | mavlink_test_meminfo(system_id, component_id, last_msg); |
||
| 890 | mavlink_test_ap_adc(system_id, component_id, last_msg); |
||
| 891 | mavlink_test_digicam_configure(system_id, component_id, last_msg); |
||
| 892 | mavlink_test_digicam_control(system_id, component_id, last_msg); |
||
| 893 | mavlink_test_mount_configure(system_id, component_id, last_msg); |
||
| 894 | mavlink_test_mount_control(system_id, component_id, last_msg); |
||
| 895 | mavlink_test_mount_status(system_id, component_id, last_msg); |
||
| 896 | mavlink_test_fence_point(system_id, component_id, last_msg); |
||
| 897 | mavlink_test_fence_fetch_point(system_id, component_id, last_msg); |
||
| 898 | mavlink_test_fence_status(system_id, component_id, last_msg); |
||
| 899 | mavlink_test_ahrs(system_id, component_id, last_msg); |
||
| 900 | mavlink_test_simstate(system_id, component_id, last_msg); |
||
| 901 | mavlink_test_hwstatus(system_id, component_id, last_msg); |
||
| 902 | mavlink_test_radio(system_id, component_id, last_msg); |
||
| 903 | } |
||
| 904 | |||
| 905 | #ifdef __cplusplus |
||
| 906 | } |
||
| 907 | #endif // __cplusplus |
||
| 908 | #endif // ARDUPILOTMEGA_TESTSUITE_H |