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Rev | Author | Line No. | Line |
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1702 | - | 1 | /** @file |
2 | * @brief MAVLink comm protocol testsuite generated from common.xml |
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3 | * @see http://qgroundcontrol.org/mavlink/ |
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4 | */ |
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5 | #ifndef COMMON_TESTSUITE_H |
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6 | #define COMMON_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 | |||
15 | static void mavlink_test_common(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 | |||
20 | mavlink_test_common(system_id, component_id, last_msg); |
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21 | } |
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22 | #endif |
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23 | |||
24 | |||
25 | |||
26 | |||
27 | static void mavlink_test_heartbeat(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_heartbeat_t packet_in = { |
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33 | 5, |
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34 | 72, |
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35 | 2, |
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36 | }; |
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37 | mavlink_heartbeat_t packet1, packet2; |
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38 | memset(&packet1, 0, sizeof(packet1)); |
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39 | packet1.type = packet_in.type; |
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40 | packet1.autopilot = packet_in.autopilot; |
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41 | packet1.mavlink_version = packet_in.mavlink_version; |
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42 | |||
43 | |||
44 | |||
45 | memset(&packet2, 0, sizeof(packet2)); |
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46 | mavlink_msg_heartbeat_encode(system_id, component_id, &msg, &packet1); |
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47 | mavlink_msg_heartbeat_decode(&msg, &packet2); |
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48 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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49 | |||
50 | memset(&packet2, 0, sizeof(packet2)); |
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51 | mavlink_msg_heartbeat_pack(system_id, component_id, &msg , packet1.type , packet1.autopilot ); |
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52 | mavlink_msg_heartbeat_decode(&msg, &packet2); |
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53 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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54 | |||
55 | memset(&packet2, 0, sizeof(packet2)); |
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56 | mavlink_msg_heartbeat_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.autopilot ); |
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57 | mavlink_msg_heartbeat_decode(&msg, &packet2); |
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58 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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59 | |||
60 | memset(&packet2, 0, sizeof(packet2)); |
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61 | mavlink_msg_to_send_buffer(buffer, &msg); |
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62 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
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63 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
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64 | } |
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65 | mavlink_msg_heartbeat_decode(last_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_heartbeat_send(MAVLINK_COMM_1 , packet1.type , packet1.autopilot ); |
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70 | mavlink_msg_heartbeat_decode(last_msg, &packet2); |
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71 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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72 | } |
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73 | |||
74 | static void mavlink_test_boot(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
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75 | { |
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76 | mavlink_message_t msg; |
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77 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
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78 | uint16_t i; |
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79 | mavlink_boot_t packet_in = { |
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80 | 963497464, |
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81 | }; |
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82 | mavlink_boot_t packet1, packet2; |
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83 | memset(&packet1, 0, sizeof(packet1)); |
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84 | packet1.version = packet_in.version; |
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85 | |||
86 | |||
87 | |||
88 | memset(&packet2, 0, sizeof(packet2)); |
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89 | mavlink_msg_boot_encode(system_id, component_id, &msg, &packet1); |
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90 | mavlink_msg_boot_decode(&msg, &packet2); |
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91 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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92 | |||
93 | memset(&packet2, 0, sizeof(packet2)); |
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94 | mavlink_msg_boot_pack(system_id, component_id, &msg , packet1.version ); |
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95 | mavlink_msg_boot_decode(&msg, &packet2); |
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96 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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97 | |||
98 | memset(&packet2, 0, sizeof(packet2)); |
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99 | mavlink_msg_boot_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.version ); |
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100 | mavlink_msg_boot_decode(&msg, &packet2); |
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101 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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102 | |||
103 | memset(&packet2, 0, sizeof(packet2)); |
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104 | mavlink_msg_to_send_buffer(buffer, &msg); |
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105 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
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106 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
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107 | } |
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108 | mavlink_msg_boot_decode(last_msg, &packet2); |
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109 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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110 | |||
111 | memset(&packet2, 0, sizeof(packet2)); |
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112 | mavlink_msg_boot_send(MAVLINK_COMM_1 , packet1.version ); |
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113 | mavlink_msg_boot_decode(last_msg, &packet2); |
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114 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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115 | } |
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116 | |||
117 | static void mavlink_test_system_time(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
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118 | { |
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119 | mavlink_message_t msg; |
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120 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
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121 | uint16_t i; |
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122 | mavlink_system_time_t packet_in = { |
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123 | 93372036854775807ULL, |
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124 | }; |
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125 | mavlink_system_time_t packet1, packet2; |
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126 | memset(&packet1, 0, sizeof(packet1)); |
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127 | packet1.time_usec = packet_in.time_usec; |
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128 | |||
129 | |||
130 | |||
131 | memset(&packet2, 0, sizeof(packet2)); |
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132 | mavlink_msg_system_time_encode(system_id, component_id, &msg, &packet1); |
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133 | mavlink_msg_system_time_decode(&msg, &packet2); |
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134 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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135 | |||
136 | memset(&packet2, 0, sizeof(packet2)); |
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137 | mavlink_msg_system_time_pack(system_id, component_id, &msg , packet1.time_usec ); |
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138 | mavlink_msg_system_time_decode(&msg, &packet2); |
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139 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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140 | |||
141 | memset(&packet2, 0, sizeof(packet2)); |
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142 | mavlink_msg_system_time_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec ); |
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143 | mavlink_msg_system_time_decode(&msg, &packet2); |
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144 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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145 | |||
146 | memset(&packet2, 0, sizeof(packet2)); |
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147 | mavlink_msg_to_send_buffer(buffer, &msg); |
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148 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
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149 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
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150 | } |
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151 | mavlink_msg_system_time_decode(last_msg, &packet2); |
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152 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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153 | |||
154 | memset(&packet2, 0, sizeof(packet2)); |
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155 | mavlink_msg_system_time_send(MAVLINK_COMM_1 , packet1.time_usec ); |
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156 | mavlink_msg_system_time_decode(last_msg, &packet2); |
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157 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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158 | } |
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159 | |||
160 | static void mavlink_test_ping(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
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161 | { |
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162 | mavlink_message_t msg; |
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163 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
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164 | uint16_t i; |
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165 | mavlink_ping_t packet_in = { |
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166 | 963497464, |
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167 | 17, |
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168 | 84, |
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169 | 93372036854776185ULL, |
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170 | }; |
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171 | mavlink_ping_t packet1, packet2; |
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172 | memset(&packet1, 0, sizeof(packet1)); |
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173 | packet1.seq = packet_in.seq; |
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174 | packet1.target_system = packet_in.target_system; |
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175 | packet1.target_component = packet_in.target_component; |
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176 | packet1.time = packet_in.time; |
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177 | |||
178 | |||
179 | |||
180 | memset(&packet2, 0, sizeof(packet2)); |
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181 | mavlink_msg_ping_encode(system_id, component_id, &msg, &packet1); |
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182 | mavlink_msg_ping_decode(&msg, &packet2); |
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183 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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184 | |||
185 | memset(&packet2, 0, sizeof(packet2)); |
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186 | mavlink_msg_ping_pack(system_id, component_id, &msg , packet1.seq , packet1.target_system , packet1.target_component , packet1.time ); |
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187 | mavlink_msg_ping_decode(&msg, &packet2); |
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188 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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189 | |||
190 | memset(&packet2, 0, sizeof(packet2)); |
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191 | mavlink_msg_ping_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.seq , packet1.target_system , packet1.target_component , packet1.time ); |
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192 | mavlink_msg_ping_decode(&msg, &packet2); |
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193 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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194 | |||
195 | memset(&packet2, 0, sizeof(packet2)); |
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196 | mavlink_msg_to_send_buffer(buffer, &msg); |
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197 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
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198 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
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199 | } |
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200 | mavlink_msg_ping_decode(last_msg, &packet2); |
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201 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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202 | |||
203 | memset(&packet2, 0, sizeof(packet2)); |
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204 | mavlink_msg_ping_send(MAVLINK_COMM_1 , packet1.seq , packet1.target_system , packet1.target_component , packet1.time ); |
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205 | mavlink_msg_ping_decode(last_msg, &packet2); |
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206 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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207 | } |
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208 | |||
209 | static void mavlink_test_system_time_utc(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
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210 | { |
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211 | mavlink_message_t msg; |
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212 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
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213 | uint16_t i; |
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214 | mavlink_system_time_utc_t packet_in = { |
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215 | 963497464, |
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216 | 963497672, |
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217 | }; |
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218 | mavlink_system_time_utc_t packet1, packet2; |
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219 | memset(&packet1, 0, sizeof(packet1)); |
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220 | packet1.utc_date = packet_in.utc_date; |
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221 | packet1.utc_time = packet_in.utc_time; |
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222 | |||
223 | |||
224 | |||
225 | memset(&packet2, 0, sizeof(packet2)); |
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226 | mavlink_msg_system_time_utc_encode(system_id, component_id, &msg, &packet1); |
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227 | mavlink_msg_system_time_utc_decode(&msg, &packet2); |
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228 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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229 | |||
230 | memset(&packet2, 0, sizeof(packet2)); |
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231 | mavlink_msg_system_time_utc_pack(system_id, component_id, &msg , packet1.utc_date , packet1.utc_time ); |
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232 | mavlink_msg_system_time_utc_decode(&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_system_time_utc_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.utc_date , packet1.utc_time ); |
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237 | mavlink_msg_system_time_utc_decode(&msg, &packet2); |
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238 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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239 | |||
240 | memset(&packet2, 0, sizeof(packet2)); |
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241 | mavlink_msg_to_send_buffer(buffer, &msg); |
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242 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
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243 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
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244 | } |
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245 | mavlink_msg_system_time_utc_decode(last_msg, &packet2); |
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246 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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247 | |||
248 | memset(&packet2, 0, sizeof(packet2)); |
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249 | mavlink_msg_system_time_utc_send(MAVLINK_COMM_1 , packet1.utc_date , packet1.utc_time ); |
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250 | mavlink_msg_system_time_utc_decode(last_msg, &packet2); |
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251 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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252 | } |
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253 | |||
254 | static void mavlink_test_change_operator_control(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
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255 | { |
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256 | mavlink_message_t msg; |
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257 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
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258 | uint16_t i; |
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259 | mavlink_change_operator_control_t packet_in = { |
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260 | 5, |
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261 | 72, |
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262 | 139, |
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263 | "DEFGHIJKLMNOPQRSTUVWXYZA", |
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264 | }; |
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265 | mavlink_change_operator_control_t packet1, packet2; |
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266 | memset(&packet1, 0, sizeof(packet1)); |
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267 | packet1.target_system = packet_in.target_system; |
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268 | packet1.control_request = packet_in.control_request; |
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269 | packet1.version = packet_in.version; |
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270 | |||
271 | mav_array_memcpy(packet1.passkey, packet_in.passkey, sizeof(char)*25); |
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272 | |||
273 | |||
274 | memset(&packet2, 0, sizeof(packet2)); |
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275 | mavlink_msg_change_operator_control_encode(system_id, component_id, &msg, &packet1); |
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276 | mavlink_msg_change_operator_control_decode(&msg, &packet2); |
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277 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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278 | |||
279 | memset(&packet2, 0, sizeof(packet2)); |
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280 | mavlink_msg_change_operator_control_pack(system_id, component_id, &msg , packet1.target_system , packet1.control_request , packet1.version , packet1.passkey ); |
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281 | mavlink_msg_change_operator_control_decode(&msg, &packet2); |
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282 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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283 | |||
284 | memset(&packet2, 0, sizeof(packet2)); |
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285 | mavlink_msg_change_operator_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.control_request , packet1.version , packet1.passkey ); |
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286 | mavlink_msg_change_operator_control_decode(&msg, &packet2); |
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287 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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288 | |||
289 | memset(&packet2, 0, sizeof(packet2)); |
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290 | mavlink_msg_to_send_buffer(buffer, &msg); |
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291 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
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292 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
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293 | } |
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294 | mavlink_msg_change_operator_control_decode(last_msg, &packet2); |
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295 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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296 | |||
297 | memset(&packet2, 0, sizeof(packet2)); |
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298 | mavlink_msg_change_operator_control_send(MAVLINK_COMM_1 , packet1.target_system , packet1.control_request , packet1.version , packet1.passkey ); |
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299 | mavlink_msg_change_operator_control_decode(last_msg, &packet2); |
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300 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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301 | } |
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302 | |||
303 | static void mavlink_test_change_operator_control_ack(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
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304 | { |
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305 | mavlink_message_t msg; |
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306 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
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307 | uint16_t i; |
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308 | mavlink_change_operator_control_ack_t packet_in = { |
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309 | 5, |
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310 | 72, |
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311 | 139, |
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312 | }; |
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313 | mavlink_change_operator_control_ack_t packet1, packet2; |
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314 | memset(&packet1, 0, sizeof(packet1)); |
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315 | packet1.gcs_system_id = packet_in.gcs_system_id; |
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316 | packet1.control_request = packet_in.control_request; |
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317 | packet1.ack = packet_in.ack; |
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318 | |||
319 | |||
320 | |||
321 | memset(&packet2, 0, sizeof(packet2)); |
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322 | mavlink_msg_change_operator_control_ack_encode(system_id, component_id, &msg, &packet1); |
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323 | mavlink_msg_change_operator_control_ack_decode(&msg, &packet2); |
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324 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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325 | |||
326 | memset(&packet2, 0, sizeof(packet2)); |
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327 | mavlink_msg_change_operator_control_ack_pack(system_id, component_id, &msg , packet1.gcs_system_id , packet1.control_request , packet1.ack ); |
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328 | mavlink_msg_change_operator_control_ack_decode(&msg, &packet2); |
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329 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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330 | |||
331 | memset(&packet2, 0, sizeof(packet2)); |
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332 | mavlink_msg_change_operator_control_ack_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.gcs_system_id , packet1.control_request , packet1.ack ); |
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333 | mavlink_msg_change_operator_control_ack_decode(&msg, &packet2); |
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334 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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335 | |||
336 | memset(&packet2, 0, sizeof(packet2)); |
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337 | mavlink_msg_to_send_buffer(buffer, &msg); |
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338 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
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339 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
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340 | } |
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341 | mavlink_msg_change_operator_control_ack_decode(last_msg, &packet2); |
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342 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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343 | |||
344 | memset(&packet2, 0, sizeof(packet2)); |
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345 | mavlink_msg_change_operator_control_ack_send(MAVLINK_COMM_1 , packet1.gcs_system_id , packet1.control_request , packet1.ack ); |
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346 | mavlink_msg_change_operator_control_ack_decode(last_msg, &packet2); |
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347 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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348 | } |
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349 | |||
350 | static void mavlink_test_auth_key(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
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351 | { |
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352 | mavlink_message_t msg; |
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353 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
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354 | uint16_t i; |
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355 | mavlink_auth_key_t packet_in = { |
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356 | "ABCDEFGHIJKLMNOPQRSTUVWXYZABCDE", |
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357 | }; |
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358 | mavlink_auth_key_t packet1, packet2; |
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359 | memset(&packet1, 0, sizeof(packet1)); |
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360 | |||
361 | mav_array_memcpy(packet1.key, packet_in.key, sizeof(char)*32); |
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362 | |||
363 | |||
364 | memset(&packet2, 0, sizeof(packet2)); |
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365 | mavlink_msg_auth_key_encode(system_id, component_id, &msg, &packet1); |
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366 | mavlink_msg_auth_key_decode(&msg, &packet2); |
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367 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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368 | |||
369 | memset(&packet2, 0, sizeof(packet2)); |
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370 | mavlink_msg_auth_key_pack(system_id, component_id, &msg , packet1.key ); |
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371 | mavlink_msg_auth_key_decode(&msg, &packet2); |
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372 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
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373 | |||
374 | memset(&packet2, 0, sizeof(packet2)); |
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375 | mavlink_msg_auth_key_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.key ); |
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376 | mavlink_msg_auth_key_decode(&msg, &packet2); |
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377 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
378 | |||
379 | memset(&packet2, 0, sizeof(packet2)); |
||
380 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
381 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
382 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
383 | } |
||
384 | mavlink_msg_auth_key_decode(last_msg, &packet2); |
||
385 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
386 | |||
387 | memset(&packet2, 0, sizeof(packet2)); |
||
388 | mavlink_msg_auth_key_send(MAVLINK_COMM_1 , packet1.key ); |
||
389 | mavlink_msg_auth_key_decode(last_msg, &packet2); |
||
390 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
391 | } |
||
392 | |||
393 | static void mavlink_test_action_ack(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
394 | { |
||
395 | mavlink_message_t msg; |
||
396 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
397 | uint16_t i; |
||
398 | mavlink_action_ack_t packet_in = { |
||
399 | 5, |
||
400 | 72, |
||
401 | }; |
||
402 | mavlink_action_ack_t packet1, packet2; |
||
403 | memset(&packet1, 0, sizeof(packet1)); |
||
404 | packet1.action = packet_in.action; |
||
405 | packet1.result = packet_in.result; |
||
406 | |||
407 | |||
408 | |||
409 | memset(&packet2, 0, sizeof(packet2)); |
||
410 | mavlink_msg_action_ack_encode(system_id, component_id, &msg, &packet1); |
||
411 | mavlink_msg_action_ack_decode(&msg, &packet2); |
||
412 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
413 | |||
414 | memset(&packet2, 0, sizeof(packet2)); |
||
415 | mavlink_msg_action_ack_pack(system_id, component_id, &msg , packet1.action , packet1.result ); |
||
416 | mavlink_msg_action_ack_decode(&msg, &packet2); |
||
417 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
418 | |||
419 | memset(&packet2, 0, sizeof(packet2)); |
||
420 | mavlink_msg_action_ack_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.action , packet1.result ); |
||
421 | mavlink_msg_action_ack_decode(&msg, &packet2); |
||
422 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
423 | |||
424 | memset(&packet2, 0, sizeof(packet2)); |
||
425 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
426 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
427 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
428 | } |
||
429 | mavlink_msg_action_ack_decode(last_msg, &packet2); |
||
430 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
431 | |||
432 | memset(&packet2, 0, sizeof(packet2)); |
||
433 | mavlink_msg_action_ack_send(MAVLINK_COMM_1 , packet1.action , packet1.result ); |
||
434 | mavlink_msg_action_ack_decode(last_msg, &packet2); |
||
435 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
436 | } |
||
437 | |||
438 | static void mavlink_test_action(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
439 | { |
||
440 | mavlink_message_t msg; |
||
441 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
442 | uint16_t i; |
||
443 | mavlink_action_t packet_in = { |
||
444 | 5, |
||
445 | 72, |
||
446 | 139, |
||
447 | }; |
||
448 | mavlink_action_t packet1, packet2; |
||
449 | memset(&packet1, 0, sizeof(packet1)); |
||
450 | packet1.target = packet_in.target; |
||
451 | packet1.target_component = packet_in.target_component; |
||
452 | packet1.action = packet_in.action; |
||
453 | |||
454 | |||
455 | |||
456 | memset(&packet2, 0, sizeof(packet2)); |
||
457 | mavlink_msg_action_encode(system_id, component_id, &msg, &packet1); |
||
458 | mavlink_msg_action_decode(&msg, &packet2); |
||
459 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
460 | |||
461 | memset(&packet2, 0, sizeof(packet2)); |
||
462 | mavlink_msg_action_pack(system_id, component_id, &msg , packet1.target , packet1.target_component , packet1.action ); |
||
463 | mavlink_msg_action_decode(&msg, &packet2); |
||
464 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
465 | |||
466 | memset(&packet2, 0, sizeof(packet2)); |
||
467 | mavlink_msg_action_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target , packet1.target_component , packet1.action ); |
||
468 | mavlink_msg_action_decode(&msg, &packet2); |
||
469 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
470 | |||
471 | memset(&packet2, 0, sizeof(packet2)); |
||
472 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
473 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
474 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
475 | } |
||
476 | mavlink_msg_action_decode(last_msg, &packet2); |
||
477 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
478 | |||
479 | memset(&packet2, 0, sizeof(packet2)); |
||
480 | mavlink_msg_action_send(MAVLINK_COMM_1 , packet1.target , packet1.target_component , packet1.action ); |
||
481 | mavlink_msg_action_decode(last_msg, &packet2); |
||
482 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
483 | } |
||
484 | |||
485 | static void mavlink_test_set_mode(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
486 | { |
||
487 | mavlink_message_t msg; |
||
488 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
489 | uint16_t i; |
||
490 | mavlink_set_mode_t packet_in = { |
||
491 | 5, |
||
492 | 72, |
||
493 | }; |
||
494 | mavlink_set_mode_t packet1, packet2; |
||
495 | memset(&packet1, 0, sizeof(packet1)); |
||
496 | packet1.target = packet_in.target; |
||
497 | packet1.mode = packet_in.mode; |
||
498 | |||
499 | |||
500 | |||
501 | memset(&packet2, 0, sizeof(packet2)); |
||
502 | mavlink_msg_set_mode_encode(system_id, component_id, &msg, &packet1); |
||
503 | mavlink_msg_set_mode_decode(&msg, &packet2); |
||
504 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
505 | |||
506 | memset(&packet2, 0, sizeof(packet2)); |
||
507 | mavlink_msg_set_mode_pack(system_id, component_id, &msg , packet1.target , packet1.mode ); |
||
508 | mavlink_msg_set_mode_decode(&msg, &packet2); |
||
509 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
510 | |||
511 | memset(&packet2, 0, sizeof(packet2)); |
||
512 | mavlink_msg_set_mode_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target , packet1.mode ); |
||
513 | mavlink_msg_set_mode_decode(&msg, &packet2); |
||
514 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
515 | |||
516 | memset(&packet2, 0, sizeof(packet2)); |
||
517 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
518 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
519 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
520 | } |
||
521 | mavlink_msg_set_mode_decode(last_msg, &packet2); |
||
522 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
523 | |||
524 | memset(&packet2, 0, sizeof(packet2)); |
||
525 | mavlink_msg_set_mode_send(MAVLINK_COMM_1 , packet1.target , packet1.mode ); |
||
526 | mavlink_msg_set_mode_decode(last_msg, &packet2); |
||
527 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
528 | } |
||
529 | |||
530 | static void mavlink_test_set_nav_mode(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
531 | { |
||
532 | mavlink_message_t msg; |
||
533 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
534 | uint16_t i; |
||
535 | mavlink_set_nav_mode_t packet_in = { |
||
536 | 5, |
||
537 | 72, |
||
538 | }; |
||
539 | mavlink_set_nav_mode_t packet1, packet2; |
||
540 | memset(&packet1, 0, sizeof(packet1)); |
||
541 | packet1.target = packet_in.target; |
||
542 | packet1.nav_mode = packet_in.nav_mode; |
||
543 | |||
544 | |||
545 | |||
546 | memset(&packet2, 0, sizeof(packet2)); |
||
547 | mavlink_msg_set_nav_mode_encode(system_id, component_id, &msg, &packet1); |
||
548 | mavlink_msg_set_nav_mode_decode(&msg, &packet2); |
||
549 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
550 | |||
551 | memset(&packet2, 0, sizeof(packet2)); |
||
552 | mavlink_msg_set_nav_mode_pack(system_id, component_id, &msg , packet1.target , packet1.nav_mode ); |
||
553 | mavlink_msg_set_nav_mode_decode(&msg, &packet2); |
||
554 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
555 | |||
556 | memset(&packet2, 0, sizeof(packet2)); |
||
557 | mavlink_msg_set_nav_mode_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target , packet1.nav_mode ); |
||
558 | mavlink_msg_set_nav_mode_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_set_nav_mode_decode(last_msg, &packet2); |
||
567 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
568 | |||
569 | memset(&packet2, 0, sizeof(packet2)); |
||
570 | mavlink_msg_set_nav_mode_send(MAVLINK_COMM_1 , packet1.target , packet1.nav_mode ); |
||
571 | mavlink_msg_set_nav_mode_decode(last_msg, &packet2); |
||
572 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
573 | } |
||
574 | |||
575 | static void mavlink_test_param_request_read(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_param_request_read_t packet_in = { |
||
581 | 5, |
||
582 | 72, |
||
583 | { 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153 }, |
||
584 | 18119, |
||
585 | }; |
||
586 | mavlink_param_request_read_t packet1, packet2; |
||
587 | memset(&packet1, 0, sizeof(packet1)); |
||
588 | packet1.target_system = packet_in.target_system; |
||
589 | packet1.target_component = packet_in.target_component; |
||
590 | packet1.param_index = packet_in.param_index; |
||
591 | |||
592 | mav_array_memcpy(packet1.param_id, packet_in.param_id, sizeof(int8_t)*15); |
||
593 | |||
594 | |||
595 | memset(&packet2, 0, sizeof(packet2)); |
||
596 | mavlink_msg_param_request_read_encode(system_id, component_id, &msg, &packet1); |
||
597 | mavlink_msg_param_request_read_decode(&msg, &packet2); |
||
598 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
599 | |||
600 | memset(&packet2, 0, sizeof(packet2)); |
||
601 | mavlink_msg_param_request_read_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_index ); |
||
602 | mavlink_msg_param_request_read_decode(&msg, &packet2); |
||
603 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
604 | |||
605 | memset(&packet2, 0, sizeof(packet2)); |
||
606 | 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 ); |
||
607 | mavlink_msg_param_request_read_decode(&msg, &packet2); |
||
608 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
609 | |||
610 | memset(&packet2, 0, sizeof(packet2)); |
||
611 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
612 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
613 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
614 | } |
||
615 | mavlink_msg_param_request_read_decode(last_msg, &packet2); |
||
616 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
617 | |||
618 | memset(&packet2, 0, sizeof(packet2)); |
||
619 | mavlink_msg_param_request_read_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_index ); |
||
620 | mavlink_msg_param_request_read_decode(last_msg, &packet2); |
||
621 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
622 | } |
||
623 | |||
624 | static void mavlink_test_param_request_list(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
625 | { |
||
626 | mavlink_message_t msg; |
||
627 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
628 | uint16_t i; |
||
629 | mavlink_param_request_list_t packet_in = { |
||
630 | 5, |
||
631 | 72, |
||
632 | }; |
||
633 | mavlink_param_request_list_t packet1, packet2; |
||
634 | memset(&packet1, 0, sizeof(packet1)); |
||
635 | packet1.target_system = packet_in.target_system; |
||
636 | packet1.target_component = packet_in.target_component; |
||
637 | |||
638 | |||
639 | |||
640 | memset(&packet2, 0, sizeof(packet2)); |
||
641 | mavlink_msg_param_request_list_encode(system_id, component_id, &msg, &packet1); |
||
642 | mavlink_msg_param_request_list_decode(&msg, &packet2); |
||
643 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
644 | |||
645 | memset(&packet2, 0, sizeof(packet2)); |
||
646 | mavlink_msg_param_request_list_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component ); |
||
647 | mavlink_msg_param_request_list_decode(&msg, &packet2); |
||
648 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
649 | |||
650 | memset(&packet2, 0, sizeof(packet2)); |
||
651 | mavlink_msg_param_request_list_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component ); |
||
652 | mavlink_msg_param_request_list_decode(&msg, &packet2); |
||
653 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
654 | |||
655 | memset(&packet2, 0, sizeof(packet2)); |
||
656 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
657 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
658 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
659 | } |
||
660 | mavlink_msg_param_request_list_decode(last_msg, &packet2); |
||
661 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
662 | |||
663 | memset(&packet2, 0, sizeof(packet2)); |
||
664 | mavlink_msg_param_request_list_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component ); |
||
665 | mavlink_msg_param_request_list_decode(last_msg, &packet2); |
||
666 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
667 | } |
||
668 | |||
669 | static void mavlink_test_param_value(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
670 | { |
||
671 | mavlink_message_t msg; |
||
672 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
673 | uint16_t i; |
||
674 | mavlink_param_value_t packet_in = { |
||
675 | { 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19 }, |
||
676 | 122.0, |
||
677 | 18223, |
||
678 | 18327, |
||
679 | }; |
||
680 | mavlink_param_value_t packet1, packet2; |
||
681 | memset(&packet1, 0, sizeof(packet1)); |
||
682 | packet1.param_value = packet_in.param_value; |
||
683 | packet1.param_count = packet_in.param_count; |
||
684 | packet1.param_index = packet_in.param_index; |
||
685 | |||
686 | mav_array_memcpy(packet1.param_id, packet_in.param_id, sizeof(int8_t)*15); |
||
687 | |||
688 | |||
689 | memset(&packet2, 0, sizeof(packet2)); |
||
690 | mavlink_msg_param_value_encode(system_id, component_id, &msg, &packet1); |
||
691 | mavlink_msg_param_value_decode(&msg, &packet2); |
||
692 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
693 | |||
694 | memset(&packet2, 0, sizeof(packet2)); |
||
695 | mavlink_msg_param_value_pack(system_id, component_id, &msg , packet1.param_id , packet1.param_value , packet1.param_count , packet1.param_index ); |
||
696 | mavlink_msg_param_value_decode(&msg, &packet2); |
||
697 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
698 | |||
699 | memset(&packet2, 0, sizeof(packet2)); |
||
700 | mavlink_msg_param_value_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.param_id , packet1.param_value , packet1.param_count , packet1.param_index ); |
||
701 | mavlink_msg_param_value_decode(&msg, &packet2); |
||
702 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
703 | |||
704 | memset(&packet2, 0, sizeof(packet2)); |
||
705 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
706 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
707 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
708 | } |
||
709 | mavlink_msg_param_value_decode(last_msg, &packet2); |
||
710 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
711 | |||
712 | memset(&packet2, 0, sizeof(packet2)); |
||
713 | mavlink_msg_param_value_send(MAVLINK_COMM_1 , packet1.param_id , packet1.param_value , packet1.param_count , packet1.param_index ); |
||
714 | mavlink_msg_param_value_decode(last_msg, &packet2); |
||
715 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
716 | } |
||
717 | |||
718 | static void mavlink_test_param_set(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
719 | { |
||
720 | mavlink_message_t msg; |
||
721 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
722 | uint16_t i; |
||
723 | mavlink_param_set_t packet_in = { |
||
724 | 5, |
||
725 | 72, |
||
726 | { 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153 }, |
||
727 | 136.0, |
||
728 | }; |
||
729 | mavlink_param_set_t packet1, packet2; |
||
730 | memset(&packet1, 0, sizeof(packet1)); |
||
731 | packet1.target_system = packet_in.target_system; |
||
732 | packet1.target_component = packet_in.target_component; |
||
733 | packet1.param_value = packet_in.param_value; |
||
734 | |||
735 | mav_array_memcpy(packet1.param_id, packet_in.param_id, sizeof(int8_t)*15); |
||
736 | |||
737 | |||
738 | memset(&packet2, 0, sizeof(packet2)); |
||
739 | mavlink_msg_param_set_encode(system_id, component_id, &msg, &packet1); |
||
740 | mavlink_msg_param_set_decode(&msg, &packet2); |
||
741 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
742 | |||
743 | memset(&packet2, 0, sizeof(packet2)); |
||
744 | mavlink_msg_param_set_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_value ); |
||
745 | mavlink_msg_param_set_decode(&msg, &packet2); |
||
746 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
747 | |||
748 | memset(&packet2, 0, sizeof(packet2)); |
||
749 | 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 ); |
||
750 | mavlink_msg_param_set_decode(&msg, &packet2); |
||
751 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
752 | |||
753 | memset(&packet2, 0, sizeof(packet2)); |
||
754 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
755 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
756 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
757 | } |
||
758 | mavlink_msg_param_set_decode(last_msg, &packet2); |
||
759 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
760 | |||
761 | memset(&packet2, 0, sizeof(packet2)); |
||
762 | mavlink_msg_param_set_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_value ); |
||
763 | mavlink_msg_param_set_decode(last_msg, &packet2); |
||
764 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
765 | } |
||
766 | |||
767 | static void mavlink_test_gps_raw_int(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
768 | { |
||
769 | mavlink_message_t msg; |
||
770 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
771 | uint16_t i; |
||
772 | mavlink_gps_raw_int_t packet_in = { |
||
773 | 93372036854775807ULL, |
||
774 | 29, |
||
775 | 963497932, |
||
776 | 963498140, |
||
777 | 963498348, |
||
778 | 164.0, |
||
779 | 192.0, |
||
780 | 220.0, |
||
781 | 248.0, |
||
782 | }; |
||
783 | mavlink_gps_raw_int_t packet1, packet2; |
||
784 | memset(&packet1, 0, sizeof(packet1)); |
||
785 | packet1.usec = packet_in.usec; |
||
786 | packet1.fix_type = packet_in.fix_type; |
||
787 | packet1.lat = packet_in.lat; |
||
788 | packet1.lon = packet_in.lon; |
||
789 | packet1.alt = packet_in.alt; |
||
790 | packet1.eph = packet_in.eph; |
||
791 | packet1.epv = packet_in.epv; |
||
792 | packet1.v = packet_in.v; |
||
793 | packet1.hdg = packet_in.hdg; |
||
794 | |||
795 | |||
796 | |||
797 | memset(&packet2, 0, sizeof(packet2)); |
||
798 | mavlink_msg_gps_raw_int_encode(system_id, component_id, &msg, &packet1); |
||
799 | mavlink_msg_gps_raw_int_decode(&msg, &packet2); |
||
800 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
801 | |||
802 | memset(&packet2, 0, sizeof(packet2)); |
||
803 | mavlink_msg_gps_raw_int_pack(system_id, component_id, &msg , packet1.usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.v , packet1.hdg ); |
||
804 | mavlink_msg_gps_raw_int_decode(&msg, &packet2); |
||
805 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
806 | |||
807 | memset(&packet2, 0, sizeof(packet2)); |
||
808 | mavlink_msg_gps_raw_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.v , packet1.hdg ); |
||
809 | mavlink_msg_gps_raw_int_decode(&msg, &packet2); |
||
810 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
811 | |||
812 | memset(&packet2, 0, sizeof(packet2)); |
||
813 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
814 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
815 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
816 | } |
||
817 | mavlink_msg_gps_raw_int_decode(last_msg, &packet2); |
||
818 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
819 | |||
820 | memset(&packet2, 0, sizeof(packet2)); |
||
821 | mavlink_msg_gps_raw_int_send(MAVLINK_COMM_1 , packet1.usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.v , packet1.hdg ); |
||
822 | mavlink_msg_gps_raw_int_decode(last_msg, &packet2); |
||
823 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
824 | } |
||
825 | |||
826 | static void mavlink_test_scaled_imu(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
827 | { |
||
828 | mavlink_message_t msg; |
||
829 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
830 | uint16_t i; |
||
831 | mavlink_scaled_imu_t packet_in = { |
||
832 | 93372036854775807ULL, |
||
833 | 17651, |
||
834 | 17755, |
||
835 | 17859, |
||
836 | 17963, |
||
837 | 18067, |
||
838 | 18171, |
||
839 | 18275, |
||
840 | 18379, |
||
841 | 18483, |
||
842 | }; |
||
843 | mavlink_scaled_imu_t packet1, packet2; |
||
844 | memset(&packet1, 0, sizeof(packet1)); |
||
845 | packet1.usec = packet_in.usec; |
||
846 | packet1.xacc = packet_in.xacc; |
||
847 | packet1.yacc = packet_in.yacc; |
||
848 | packet1.zacc = packet_in.zacc; |
||
849 | packet1.xgyro = packet_in.xgyro; |
||
850 | packet1.ygyro = packet_in.ygyro; |
||
851 | packet1.zgyro = packet_in.zgyro; |
||
852 | packet1.xmag = packet_in.xmag; |
||
853 | packet1.ymag = packet_in.ymag; |
||
854 | packet1.zmag = packet_in.zmag; |
||
855 | |||
856 | |||
857 | |||
858 | memset(&packet2, 0, sizeof(packet2)); |
||
859 | mavlink_msg_scaled_imu_encode(system_id, component_id, &msg, &packet1); |
||
860 | mavlink_msg_scaled_imu_decode(&msg, &packet2); |
||
861 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
862 | |||
863 | memset(&packet2, 0, sizeof(packet2)); |
||
864 | mavlink_msg_scaled_imu_pack(system_id, component_id, &msg , packet1.usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag ); |
||
865 | mavlink_msg_scaled_imu_decode(&msg, &packet2); |
||
866 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
867 | |||
868 | memset(&packet2, 0, sizeof(packet2)); |
||
869 | mavlink_msg_scaled_imu_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag ); |
||
870 | mavlink_msg_scaled_imu_decode(&msg, &packet2); |
||
871 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
872 | |||
873 | memset(&packet2, 0, sizeof(packet2)); |
||
874 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
875 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
876 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
877 | } |
||
878 | mavlink_msg_scaled_imu_decode(last_msg, &packet2); |
||
879 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
880 | |||
881 | memset(&packet2, 0, sizeof(packet2)); |
||
882 | mavlink_msg_scaled_imu_send(MAVLINK_COMM_1 , packet1.usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag ); |
||
883 | mavlink_msg_scaled_imu_decode(last_msg, &packet2); |
||
884 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
885 | } |
||
886 | |||
887 | static void mavlink_test_gps_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
888 | { |
||
889 | mavlink_message_t msg; |
||
890 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
891 | uint16_t i; |
||
892 | mavlink_gps_status_t packet_in = { |
||
893 | 5, |
||
894 | { 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91 }, |
||
895 | { 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151 }, |
||
896 | { 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211 }, |
||
897 | { 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15 }, |
||
898 | { 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75 }, |
||
899 | }; |
||
900 | mavlink_gps_status_t packet1, packet2; |
||
901 | memset(&packet1, 0, sizeof(packet1)); |
||
902 | packet1.satellites_visible = packet_in.satellites_visible; |
||
903 | |||
904 | mav_array_memcpy(packet1.satellite_prn, packet_in.satellite_prn, sizeof(int8_t)*20); |
||
905 | mav_array_memcpy(packet1.satellite_used, packet_in.satellite_used, sizeof(int8_t)*20); |
||
906 | mav_array_memcpy(packet1.satellite_elevation, packet_in.satellite_elevation, sizeof(int8_t)*20); |
||
907 | mav_array_memcpy(packet1.satellite_azimuth, packet_in.satellite_azimuth, sizeof(int8_t)*20); |
||
908 | mav_array_memcpy(packet1.satellite_snr, packet_in.satellite_snr, sizeof(int8_t)*20); |
||
909 | |||
910 | |||
911 | memset(&packet2, 0, sizeof(packet2)); |
||
912 | mavlink_msg_gps_status_encode(system_id, component_id, &msg, &packet1); |
||
913 | mavlink_msg_gps_status_decode(&msg, &packet2); |
||
914 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
915 | |||
916 | memset(&packet2, 0, sizeof(packet2)); |
||
917 | 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 ); |
||
918 | mavlink_msg_gps_status_decode(&msg, &packet2); |
||
919 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
920 | |||
921 | memset(&packet2, 0, sizeof(packet2)); |
||
922 | 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 ); |
||
923 | mavlink_msg_gps_status_decode(&msg, &packet2); |
||
924 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
925 | |||
926 | memset(&packet2, 0, sizeof(packet2)); |
||
927 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
928 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
929 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
930 | } |
||
931 | mavlink_msg_gps_status_decode(last_msg, &packet2); |
||
932 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
933 | |||
934 | memset(&packet2, 0, sizeof(packet2)); |
||
935 | 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 ); |
||
936 | mavlink_msg_gps_status_decode(last_msg, &packet2); |
||
937 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
938 | } |
||
939 | |||
940 | static void mavlink_test_raw_imu(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
941 | { |
||
942 | mavlink_message_t msg; |
||
943 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
944 | uint16_t i; |
||
945 | mavlink_raw_imu_t packet_in = { |
||
946 | 93372036854775807ULL, |
||
947 | 17651, |
||
948 | 17755, |
||
949 | 17859, |
||
950 | 17963, |
||
951 | 18067, |
||
952 | 18171, |
||
953 | 18275, |
||
954 | 18379, |
||
955 | 18483, |
||
956 | }; |
||
957 | mavlink_raw_imu_t packet1, packet2; |
||
958 | memset(&packet1, 0, sizeof(packet1)); |
||
959 | packet1.usec = packet_in.usec; |
||
960 | packet1.xacc = packet_in.xacc; |
||
961 | packet1.yacc = packet_in.yacc; |
||
962 | packet1.zacc = packet_in.zacc; |
||
963 | packet1.xgyro = packet_in.xgyro; |
||
964 | packet1.ygyro = packet_in.ygyro; |
||
965 | packet1.zgyro = packet_in.zgyro; |
||
966 | packet1.xmag = packet_in.xmag; |
||
967 | packet1.ymag = packet_in.ymag; |
||
968 | packet1.zmag = packet_in.zmag; |
||
969 | |||
970 | |||
971 | |||
972 | memset(&packet2, 0, sizeof(packet2)); |
||
973 | mavlink_msg_raw_imu_encode(system_id, component_id, &msg, &packet1); |
||
974 | mavlink_msg_raw_imu_decode(&msg, &packet2); |
||
975 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
976 | |||
977 | memset(&packet2, 0, sizeof(packet2)); |
||
978 | mavlink_msg_raw_imu_pack(system_id, component_id, &msg , packet1.usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag ); |
||
979 | mavlink_msg_raw_imu_decode(&msg, &packet2); |
||
980 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
981 | |||
982 | memset(&packet2, 0, sizeof(packet2)); |
||
983 | mavlink_msg_raw_imu_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag ); |
||
984 | mavlink_msg_raw_imu_decode(&msg, &packet2); |
||
985 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
986 | |||
987 | memset(&packet2, 0, sizeof(packet2)); |
||
988 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
989 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
990 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
991 | } |
||
992 | mavlink_msg_raw_imu_decode(last_msg, &packet2); |
||
993 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
994 | |||
995 | memset(&packet2, 0, sizeof(packet2)); |
||
996 | mavlink_msg_raw_imu_send(MAVLINK_COMM_1 , packet1.usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag ); |
||
997 | mavlink_msg_raw_imu_decode(last_msg, &packet2); |
||
998 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
999 | } |
||
1000 | |||
1001 | static void mavlink_test_raw_pressure(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
1002 | { |
||
1003 | mavlink_message_t msg; |
||
1004 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
1005 | uint16_t i; |
||
1006 | mavlink_raw_pressure_t packet_in = { |
||
1007 | 93372036854775807ULL, |
||
1008 | 17651, |
||
1009 | 17755, |
||
1010 | 17859, |
||
1011 | 17963, |
||
1012 | }; |
||
1013 | mavlink_raw_pressure_t packet1, packet2; |
||
1014 | memset(&packet1, 0, sizeof(packet1)); |
||
1015 | packet1.usec = packet_in.usec; |
||
1016 | packet1.press_abs = packet_in.press_abs; |
||
1017 | packet1.press_diff1 = packet_in.press_diff1; |
||
1018 | packet1.press_diff2 = packet_in.press_diff2; |
||
1019 | packet1.temperature = packet_in.temperature; |
||
1020 | |||
1021 | |||
1022 | |||
1023 | memset(&packet2, 0, sizeof(packet2)); |
||
1024 | mavlink_msg_raw_pressure_encode(system_id, component_id, &msg, &packet1); |
||
1025 | mavlink_msg_raw_pressure_decode(&msg, &packet2); |
||
1026 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1027 | |||
1028 | memset(&packet2, 0, sizeof(packet2)); |
||
1029 | mavlink_msg_raw_pressure_pack(system_id, component_id, &msg , packet1.usec , packet1.press_abs , packet1.press_diff1 , packet1.press_diff2 , packet1.temperature ); |
||
1030 | mavlink_msg_raw_pressure_decode(&msg, &packet2); |
||
1031 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1032 | |||
1033 | memset(&packet2, 0, sizeof(packet2)); |
||
1034 | mavlink_msg_raw_pressure_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.press_abs , packet1.press_diff1 , packet1.press_diff2 , packet1.temperature ); |
||
1035 | mavlink_msg_raw_pressure_decode(&msg, &packet2); |
||
1036 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1037 | |||
1038 | memset(&packet2, 0, sizeof(packet2)); |
||
1039 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
1040 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
1041 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
1042 | } |
||
1043 | mavlink_msg_raw_pressure_decode(last_msg, &packet2); |
||
1044 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1045 | |||
1046 | memset(&packet2, 0, sizeof(packet2)); |
||
1047 | mavlink_msg_raw_pressure_send(MAVLINK_COMM_1 , packet1.usec , packet1.press_abs , packet1.press_diff1 , packet1.press_diff2 , packet1.temperature ); |
||
1048 | mavlink_msg_raw_pressure_decode(last_msg, &packet2); |
||
1049 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1050 | } |
||
1051 | |||
1052 | static void mavlink_test_scaled_pressure(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
1053 | { |
||
1054 | mavlink_message_t msg; |
||
1055 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
1056 | uint16_t i; |
||
1057 | mavlink_scaled_pressure_t packet_in = { |
||
1058 | 93372036854775807ULL, |
||
1059 | 73.0, |
||
1060 | 101.0, |
||
1061 | 18067, |
||
1062 | }; |
||
1063 | mavlink_scaled_pressure_t packet1, packet2; |
||
1064 | memset(&packet1, 0, sizeof(packet1)); |
||
1065 | packet1.usec = packet_in.usec; |
||
1066 | packet1.press_abs = packet_in.press_abs; |
||
1067 | packet1.press_diff = packet_in.press_diff; |
||
1068 | packet1.temperature = packet_in.temperature; |
||
1069 | |||
1070 | |||
1071 | |||
1072 | memset(&packet2, 0, sizeof(packet2)); |
||
1073 | mavlink_msg_scaled_pressure_encode(system_id, component_id, &msg, &packet1); |
||
1074 | mavlink_msg_scaled_pressure_decode(&msg, &packet2); |
||
1075 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1076 | |||
1077 | memset(&packet2, 0, sizeof(packet2)); |
||
1078 | mavlink_msg_scaled_pressure_pack(system_id, component_id, &msg , packet1.usec , packet1.press_abs , packet1.press_diff , packet1.temperature ); |
||
1079 | mavlink_msg_scaled_pressure_decode(&msg, &packet2); |
||
1080 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1081 | |||
1082 | memset(&packet2, 0, sizeof(packet2)); |
||
1083 | mavlink_msg_scaled_pressure_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.press_abs , packet1.press_diff , packet1.temperature ); |
||
1084 | mavlink_msg_scaled_pressure_decode(&msg, &packet2); |
||
1085 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1086 | |||
1087 | memset(&packet2, 0, sizeof(packet2)); |
||
1088 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
1089 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
1090 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
1091 | } |
||
1092 | mavlink_msg_scaled_pressure_decode(last_msg, &packet2); |
||
1093 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1094 | |||
1095 | memset(&packet2, 0, sizeof(packet2)); |
||
1096 | mavlink_msg_scaled_pressure_send(MAVLINK_COMM_1 , packet1.usec , packet1.press_abs , packet1.press_diff , packet1.temperature ); |
||
1097 | mavlink_msg_scaled_pressure_decode(last_msg, &packet2); |
||
1098 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1099 | } |
||
1100 | |||
1101 | static void mavlink_test_attitude(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
1102 | { |
||
1103 | mavlink_message_t msg; |
||
1104 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
1105 | uint16_t i; |
||
1106 | mavlink_attitude_t packet_in = { |
||
1107 | 93372036854775807ULL, |
||
1108 | 73.0, |
||
1109 | 101.0, |
||
1110 | 129.0, |
||
1111 | 157.0, |
||
1112 | 185.0, |
||
1113 | 213.0, |
||
1114 | }; |
||
1115 | mavlink_attitude_t packet1, packet2; |
||
1116 | memset(&packet1, 0, sizeof(packet1)); |
||
1117 | packet1.usec = packet_in.usec; |
||
1118 | packet1.roll = packet_in.roll; |
||
1119 | packet1.pitch = packet_in.pitch; |
||
1120 | packet1.yaw = packet_in.yaw; |
||
1121 | packet1.rollspeed = packet_in.rollspeed; |
||
1122 | packet1.pitchspeed = packet_in.pitchspeed; |
||
1123 | packet1.yawspeed = packet_in.yawspeed; |
||
1124 | |||
1125 | |||
1126 | |||
1127 | memset(&packet2, 0, sizeof(packet2)); |
||
1128 | mavlink_msg_attitude_encode(system_id, component_id, &msg, &packet1); |
||
1129 | mavlink_msg_attitude_decode(&msg, &packet2); |
||
1130 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1131 | |||
1132 | memset(&packet2, 0, sizeof(packet2)); |
||
1133 | mavlink_msg_attitude_pack(system_id, component_id, &msg , packet1.usec , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed ); |
||
1134 | mavlink_msg_attitude_decode(&msg, &packet2); |
||
1135 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1136 | |||
1137 | memset(&packet2, 0, sizeof(packet2)); |
||
1138 | mavlink_msg_attitude_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed ); |
||
1139 | mavlink_msg_attitude_decode(&msg, &packet2); |
||
1140 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1141 | |||
1142 | memset(&packet2, 0, sizeof(packet2)); |
||
1143 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
1144 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
1145 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
1146 | } |
||
1147 | mavlink_msg_attitude_decode(last_msg, &packet2); |
||
1148 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1149 | |||
1150 | memset(&packet2, 0, sizeof(packet2)); |
||
1151 | mavlink_msg_attitude_send(MAVLINK_COMM_1 , packet1.usec , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed ); |
||
1152 | mavlink_msg_attitude_decode(last_msg, &packet2); |
||
1153 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1154 | } |
||
1155 | |||
1156 | static void mavlink_test_local_position(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
1157 | { |
||
1158 | mavlink_message_t msg; |
||
1159 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
1160 | uint16_t i; |
||
1161 | mavlink_local_position_t packet_in = { |
||
1162 | 93372036854775807ULL, |
||
1163 | 73.0, |
||
1164 | 101.0, |
||
1165 | 129.0, |
||
1166 | 157.0, |
||
1167 | 185.0, |
||
1168 | 213.0, |
||
1169 | }; |
||
1170 | mavlink_local_position_t packet1, packet2; |
||
1171 | memset(&packet1, 0, sizeof(packet1)); |
||
1172 | packet1.usec = packet_in.usec; |
||
1173 | packet1.x = packet_in.x; |
||
1174 | packet1.y = packet_in.y; |
||
1175 | packet1.z = packet_in.z; |
||
1176 | packet1.vx = packet_in.vx; |
||
1177 | packet1.vy = packet_in.vy; |
||
1178 | packet1.vz = packet_in.vz; |
||
1179 | |||
1180 | |||
1181 | |||
1182 | memset(&packet2, 0, sizeof(packet2)); |
||
1183 | mavlink_msg_local_position_encode(system_id, component_id, &msg, &packet1); |
||
1184 | mavlink_msg_local_position_decode(&msg, &packet2); |
||
1185 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1186 | |||
1187 | memset(&packet2, 0, sizeof(packet2)); |
||
1188 | mavlink_msg_local_position_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz ); |
||
1189 | mavlink_msg_local_position_decode(&msg, &packet2); |
||
1190 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1191 | |||
1192 | memset(&packet2, 0, sizeof(packet2)); |
||
1193 | mavlink_msg_local_position_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz ); |
||
1194 | mavlink_msg_local_position_decode(&msg, &packet2); |
||
1195 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1196 | |||
1197 | memset(&packet2, 0, sizeof(packet2)); |
||
1198 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
1199 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
1200 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
1201 | } |
||
1202 | mavlink_msg_local_position_decode(last_msg, &packet2); |
||
1203 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1204 | |||
1205 | memset(&packet2, 0, sizeof(packet2)); |
||
1206 | mavlink_msg_local_position_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz ); |
||
1207 | mavlink_msg_local_position_decode(last_msg, &packet2); |
||
1208 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1209 | } |
||
1210 | |||
1211 | static void mavlink_test_global_position(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
1212 | { |
||
1213 | mavlink_message_t msg; |
||
1214 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
1215 | uint16_t i; |
||
1216 | mavlink_global_position_t packet_in = { |
||
1217 | 93372036854775807ULL, |
||
1218 | 73.0, |
||
1219 | 101.0, |
||
1220 | 129.0, |
||
1221 | 157.0, |
||
1222 | 185.0, |
||
1223 | 213.0, |
||
1224 | }; |
||
1225 | mavlink_global_position_t packet1, packet2; |
||
1226 | memset(&packet1, 0, sizeof(packet1)); |
||
1227 | packet1.usec = packet_in.usec; |
||
1228 | packet1.lat = packet_in.lat; |
||
1229 | packet1.lon = packet_in.lon; |
||
1230 | packet1.alt = packet_in.alt; |
||
1231 | packet1.vx = packet_in.vx; |
||
1232 | packet1.vy = packet_in.vy; |
||
1233 | packet1.vz = packet_in.vz; |
||
1234 | |||
1235 | |||
1236 | |||
1237 | memset(&packet2, 0, sizeof(packet2)); |
||
1238 | mavlink_msg_global_position_encode(system_id, component_id, &msg, &packet1); |
||
1239 | mavlink_msg_global_position_decode(&msg, &packet2); |
||
1240 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1241 | |||
1242 | memset(&packet2, 0, sizeof(packet2)); |
||
1243 | mavlink_msg_global_position_pack(system_id, component_id, &msg , packet1.usec , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz ); |
||
1244 | mavlink_msg_global_position_decode(&msg, &packet2); |
||
1245 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1246 | |||
1247 | memset(&packet2, 0, sizeof(packet2)); |
||
1248 | mavlink_msg_global_position_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz ); |
||
1249 | mavlink_msg_global_position_decode(&msg, &packet2); |
||
1250 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1251 | |||
1252 | memset(&packet2, 0, sizeof(packet2)); |
||
1253 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
1254 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
1255 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
1256 | } |
||
1257 | mavlink_msg_global_position_decode(last_msg, &packet2); |
||
1258 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1259 | |||
1260 | memset(&packet2, 0, sizeof(packet2)); |
||
1261 | mavlink_msg_global_position_send(MAVLINK_COMM_1 , packet1.usec , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz ); |
||
1262 | mavlink_msg_global_position_decode(last_msg, &packet2); |
||
1263 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1264 | } |
||
1265 | |||
1266 | static void mavlink_test_gps_raw(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
1267 | { |
||
1268 | mavlink_message_t msg; |
||
1269 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
1270 | uint16_t i; |
||
1271 | mavlink_gps_raw_t packet_in = { |
||
1272 | 93372036854775807ULL, |
||
1273 | 29, |
||
1274 | 80.0, |
||
1275 | 108.0, |
||
1276 | 136.0, |
||
1277 | 164.0, |
||
1278 | 192.0, |
||
1279 | 220.0, |
||
1280 | 248.0, |
||
1281 | }; |
||
1282 | mavlink_gps_raw_t packet1, packet2; |
||
1283 | memset(&packet1, 0, sizeof(packet1)); |
||
1284 | packet1.usec = packet_in.usec; |
||
1285 | packet1.fix_type = packet_in.fix_type; |
||
1286 | packet1.lat = packet_in.lat; |
||
1287 | packet1.lon = packet_in.lon; |
||
1288 | packet1.alt = packet_in.alt; |
||
1289 | packet1.eph = packet_in.eph; |
||
1290 | packet1.epv = packet_in.epv; |
||
1291 | packet1.v = packet_in.v; |
||
1292 | packet1.hdg = packet_in.hdg; |
||
1293 | |||
1294 | |||
1295 | |||
1296 | memset(&packet2, 0, sizeof(packet2)); |
||
1297 | mavlink_msg_gps_raw_encode(system_id, component_id, &msg, &packet1); |
||
1298 | mavlink_msg_gps_raw_decode(&msg, &packet2); |
||
1299 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1300 | |||
1301 | memset(&packet2, 0, sizeof(packet2)); |
||
1302 | mavlink_msg_gps_raw_pack(system_id, component_id, &msg , packet1.usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.v , packet1.hdg ); |
||
1303 | mavlink_msg_gps_raw_decode(&msg, &packet2); |
||
1304 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1305 | |||
1306 | memset(&packet2, 0, sizeof(packet2)); |
||
1307 | mavlink_msg_gps_raw_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.v , packet1.hdg ); |
||
1308 | mavlink_msg_gps_raw_decode(&msg, &packet2); |
||
1309 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1310 | |||
1311 | memset(&packet2, 0, sizeof(packet2)); |
||
1312 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
1313 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
1314 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
1315 | } |
||
1316 | mavlink_msg_gps_raw_decode(last_msg, &packet2); |
||
1317 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1318 | |||
1319 | memset(&packet2, 0, sizeof(packet2)); |
||
1320 | mavlink_msg_gps_raw_send(MAVLINK_COMM_1 , packet1.usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.v , packet1.hdg ); |
||
1321 | mavlink_msg_gps_raw_decode(last_msg, &packet2); |
||
1322 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1323 | } |
||
1324 | |||
1325 | static void mavlink_test_sys_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
1326 | { |
||
1327 | mavlink_message_t msg; |
||
1328 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
1329 | uint16_t i; |
||
1330 | mavlink_sys_status_t packet_in = { |
||
1331 | 5, |
||
1332 | 72, |
||
1333 | 139, |
||
1334 | 17391, |
||
1335 | 17495, |
||
1336 | 17599, |
||
1337 | 17703, |
||
1338 | }; |
||
1339 | mavlink_sys_status_t packet1, packet2; |
||
1340 | memset(&packet1, 0, sizeof(packet1)); |
||
1341 | packet1.mode = packet_in.mode; |
||
1342 | packet1.nav_mode = packet_in.nav_mode; |
||
1343 | packet1.status = packet_in.status; |
||
1344 | packet1.load = packet_in.load; |
||
1345 | packet1.vbat = packet_in.vbat; |
||
1346 | packet1.battery_remaining = packet_in.battery_remaining; |
||
1347 | packet1.packet_drop = packet_in.packet_drop; |
||
1348 | |||
1349 | |||
1350 | |||
1351 | memset(&packet2, 0, sizeof(packet2)); |
||
1352 | mavlink_msg_sys_status_encode(system_id, component_id, &msg, &packet1); |
||
1353 | mavlink_msg_sys_status_decode(&msg, &packet2); |
||
1354 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1355 | |||
1356 | memset(&packet2, 0, sizeof(packet2)); |
||
1357 | mavlink_msg_sys_status_pack(system_id, component_id, &msg , packet1.mode , packet1.nav_mode , packet1.status , packet1.load , packet1.vbat , packet1.battery_remaining , packet1.packet_drop ); |
||
1358 | mavlink_msg_sys_status_decode(&msg, &packet2); |
||
1359 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1360 | |||
1361 | memset(&packet2, 0, sizeof(packet2)); |
||
1362 | mavlink_msg_sys_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.mode , packet1.nav_mode , packet1.status , packet1.load , packet1.vbat , packet1.battery_remaining , packet1.packet_drop ); |
||
1363 | mavlink_msg_sys_status_decode(&msg, &packet2); |
||
1364 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1365 | |||
1366 | memset(&packet2, 0, sizeof(packet2)); |
||
1367 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
1368 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
1369 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
1370 | } |
||
1371 | mavlink_msg_sys_status_decode(last_msg, &packet2); |
||
1372 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1373 | |||
1374 | memset(&packet2, 0, sizeof(packet2)); |
||
1375 | mavlink_msg_sys_status_send(MAVLINK_COMM_1 , packet1.mode , packet1.nav_mode , packet1.status , packet1.load , packet1.vbat , packet1.battery_remaining , packet1.packet_drop ); |
||
1376 | mavlink_msg_sys_status_decode(last_msg, &packet2); |
||
1377 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1378 | } |
||
1379 | |||
1380 | static void mavlink_test_rc_channels_raw(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
1381 | { |
||
1382 | mavlink_message_t msg; |
||
1383 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
1384 | uint16_t i; |
||
1385 | mavlink_rc_channels_raw_t packet_in = { |
||
1386 | 17235, |
||
1387 | 17339, |
||
1388 | 17443, |
||
1389 | 17547, |
||
1390 | 17651, |
||
1391 | 17755, |
||
1392 | 17859, |
||
1393 | 17963, |
||
1394 | 53, |
||
1395 | }; |
||
1396 | mavlink_rc_channels_raw_t packet1, packet2; |
||
1397 | memset(&packet1, 0, sizeof(packet1)); |
||
1398 | packet1.chan1_raw = packet_in.chan1_raw; |
||
1399 | packet1.chan2_raw = packet_in.chan2_raw; |
||
1400 | packet1.chan3_raw = packet_in.chan3_raw; |
||
1401 | packet1.chan4_raw = packet_in.chan4_raw; |
||
1402 | packet1.chan5_raw = packet_in.chan5_raw; |
||
1403 | packet1.chan6_raw = packet_in.chan6_raw; |
||
1404 | packet1.chan7_raw = packet_in.chan7_raw; |
||
1405 | packet1.chan8_raw = packet_in.chan8_raw; |
||
1406 | packet1.rssi = packet_in.rssi; |
||
1407 | |||
1408 | |||
1409 | |||
1410 | memset(&packet2, 0, sizeof(packet2)); |
||
1411 | mavlink_msg_rc_channels_raw_encode(system_id, component_id, &msg, &packet1); |
||
1412 | mavlink_msg_rc_channels_raw_decode(&msg, &packet2); |
||
1413 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1414 | |||
1415 | memset(&packet2, 0, sizeof(packet2)); |
||
1416 | mavlink_msg_rc_channels_raw_pack(system_id, component_id, &msg , 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 ); |
||
1417 | mavlink_msg_rc_channels_raw_decode(&msg, &packet2); |
||
1418 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1419 | |||
1420 | memset(&packet2, 0, sizeof(packet2)); |
||
1421 | mavlink_msg_rc_channels_raw_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , 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 ); |
||
1422 | mavlink_msg_rc_channels_raw_decode(&msg, &packet2); |
||
1423 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1424 | |||
1425 | memset(&packet2, 0, sizeof(packet2)); |
||
1426 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
1427 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
1428 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
1429 | } |
||
1430 | mavlink_msg_rc_channels_raw_decode(last_msg, &packet2); |
||
1431 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1432 | |||
1433 | memset(&packet2, 0, sizeof(packet2)); |
||
1434 | mavlink_msg_rc_channels_raw_send(MAVLINK_COMM_1 , 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 ); |
||
1435 | mavlink_msg_rc_channels_raw_decode(last_msg, &packet2); |
||
1436 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1437 | } |
||
1438 | |||
1439 | static void mavlink_test_rc_channels_scaled(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
1440 | { |
||
1441 | mavlink_message_t msg; |
||
1442 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
1443 | uint16_t i; |
||
1444 | mavlink_rc_channels_scaled_t packet_in = { |
||
1445 | 17235, |
||
1446 | 17339, |
||
1447 | 17443, |
||
1448 | 17547, |
||
1449 | 17651, |
||
1450 | 17755, |
||
1451 | 17859, |
||
1452 | 17963, |
||
1453 | 53, |
||
1454 | }; |
||
1455 | mavlink_rc_channels_scaled_t packet1, packet2; |
||
1456 | memset(&packet1, 0, sizeof(packet1)); |
||
1457 | packet1.chan1_scaled = packet_in.chan1_scaled; |
||
1458 | packet1.chan2_scaled = packet_in.chan2_scaled; |
||
1459 | packet1.chan3_scaled = packet_in.chan3_scaled; |
||
1460 | packet1.chan4_scaled = packet_in.chan4_scaled; |
||
1461 | packet1.chan5_scaled = packet_in.chan5_scaled; |
||
1462 | packet1.chan6_scaled = packet_in.chan6_scaled; |
||
1463 | packet1.chan7_scaled = packet_in.chan7_scaled; |
||
1464 | packet1.chan8_scaled = packet_in.chan8_scaled; |
||
1465 | packet1.rssi = packet_in.rssi; |
||
1466 | |||
1467 | |||
1468 | |||
1469 | memset(&packet2, 0, sizeof(packet2)); |
||
1470 | mavlink_msg_rc_channels_scaled_encode(system_id, component_id, &msg, &packet1); |
||
1471 | mavlink_msg_rc_channels_scaled_decode(&msg, &packet2); |
||
1472 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1473 | |||
1474 | memset(&packet2, 0, sizeof(packet2)); |
||
1475 | mavlink_msg_rc_channels_scaled_pack(system_id, component_id, &msg , 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 ); |
||
1476 | mavlink_msg_rc_channels_scaled_decode(&msg, &packet2); |
||
1477 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1478 | |||
1479 | memset(&packet2, 0, sizeof(packet2)); |
||
1480 | mavlink_msg_rc_channels_scaled_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , 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 ); |
||
1481 | mavlink_msg_rc_channels_scaled_decode(&msg, &packet2); |
||
1482 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1483 | |||
1484 | memset(&packet2, 0, sizeof(packet2)); |
||
1485 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
1486 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
1487 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
1488 | } |
||
1489 | mavlink_msg_rc_channels_scaled_decode(last_msg, &packet2); |
||
1490 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1491 | |||
1492 | memset(&packet2, 0, sizeof(packet2)); |
||
1493 | mavlink_msg_rc_channels_scaled_send(MAVLINK_COMM_1 , 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 ); |
||
1494 | mavlink_msg_rc_channels_scaled_decode(last_msg, &packet2); |
||
1495 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1496 | } |
||
1497 | |||
1498 | static void mavlink_test_servo_output_raw(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
1499 | { |
||
1500 | mavlink_message_t msg; |
||
1501 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
1502 | uint16_t i; |
||
1503 | mavlink_servo_output_raw_t packet_in = { |
||
1504 | 17235, |
||
1505 | 17339, |
||
1506 | 17443, |
||
1507 | 17547, |
||
1508 | 17651, |
||
1509 | 17755, |
||
1510 | 17859, |
||
1511 | 17963, |
||
1512 | }; |
||
1513 | mavlink_servo_output_raw_t packet1, packet2; |
||
1514 | memset(&packet1, 0, sizeof(packet1)); |
||
1515 | packet1.servo1_raw = packet_in.servo1_raw; |
||
1516 | packet1.servo2_raw = packet_in.servo2_raw; |
||
1517 | packet1.servo3_raw = packet_in.servo3_raw; |
||
1518 | packet1.servo4_raw = packet_in.servo4_raw; |
||
1519 | packet1.servo5_raw = packet_in.servo5_raw; |
||
1520 | packet1.servo6_raw = packet_in.servo6_raw; |
||
1521 | packet1.servo7_raw = packet_in.servo7_raw; |
||
1522 | packet1.servo8_raw = packet_in.servo8_raw; |
||
1523 | |||
1524 | |||
1525 | |||
1526 | memset(&packet2, 0, sizeof(packet2)); |
||
1527 | mavlink_msg_servo_output_raw_encode(system_id, component_id, &msg, &packet1); |
||
1528 | mavlink_msg_servo_output_raw_decode(&msg, &packet2); |
||
1529 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1530 | |||
1531 | memset(&packet2, 0, sizeof(packet2)); |
||
1532 | mavlink_msg_servo_output_raw_pack(system_id, component_id, &msg , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw ); |
||
1533 | mavlink_msg_servo_output_raw_decode(&msg, &packet2); |
||
1534 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1535 | |||
1536 | memset(&packet2, 0, sizeof(packet2)); |
||
1537 | mavlink_msg_servo_output_raw_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw ); |
||
1538 | mavlink_msg_servo_output_raw_decode(&msg, &packet2); |
||
1539 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1540 | |||
1541 | memset(&packet2, 0, sizeof(packet2)); |
||
1542 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
1543 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
1544 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
1545 | } |
||
1546 | mavlink_msg_servo_output_raw_decode(last_msg, &packet2); |
||
1547 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1548 | |||
1549 | memset(&packet2, 0, sizeof(packet2)); |
||
1550 | mavlink_msg_servo_output_raw_send(MAVLINK_COMM_1 , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw ); |
||
1551 | mavlink_msg_servo_output_raw_decode(last_msg, &packet2); |
||
1552 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1553 | } |
||
1554 | |||
1555 | static void mavlink_test_waypoint(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
1556 | { |
||
1557 | mavlink_message_t msg; |
||
1558 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
1559 | uint16_t i; |
||
1560 | mavlink_waypoint_t packet_in = { |
||
1561 | 5, |
||
1562 | 72, |
||
1563 | 17339, |
||
1564 | 17, |
||
1565 | 84, |
||
1566 | 151, |
||
1567 | 218, |
||
1568 | 73.0, |
||
1569 | 101.0, |
||
1570 | 129.0, |
||
1571 | 157.0, |
||
1572 | 185.0, |
||
1573 | 213.0, |
||
1574 | 241.0, |
||
1575 | }; |
||
1576 | mavlink_waypoint_t packet1, packet2; |
||
1577 | memset(&packet1, 0, sizeof(packet1)); |
||
1578 | packet1.target_system = packet_in.target_system; |
||
1579 | packet1.target_component = packet_in.target_component; |
||
1580 | packet1.seq = packet_in.seq; |
||
1581 | packet1.frame = packet_in.frame; |
||
1582 | packet1.command = packet_in.command; |
||
1583 | packet1.current = packet_in.current; |
||
1584 | packet1.autocontinue = packet_in.autocontinue; |
||
1585 | packet1.param1 = packet_in.param1; |
||
1586 | packet1.param2 = packet_in.param2; |
||
1587 | packet1.param3 = packet_in.param3; |
||
1588 | packet1.param4 = packet_in.param4; |
||
1589 | packet1.x = packet_in.x; |
||
1590 | packet1.y = packet_in.y; |
||
1591 | packet1.z = packet_in.z; |
||
1592 | |||
1593 | |||
1594 | |||
1595 | memset(&packet2, 0, sizeof(packet2)); |
||
1596 | mavlink_msg_waypoint_encode(system_id, component_id, &msg, &packet1); |
||
1597 | mavlink_msg_waypoint_decode(&msg, &packet2); |
||
1598 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1599 | |||
1600 | memset(&packet2, 0, sizeof(packet2)); |
||
1601 | mavlink_msg_waypoint_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 ); |
||
1602 | mavlink_msg_waypoint_decode(&msg, &packet2); |
||
1603 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1604 | |||
1605 | memset(&packet2, 0, sizeof(packet2)); |
||
1606 | mavlink_msg_waypoint_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 ); |
||
1607 | mavlink_msg_waypoint_decode(&msg, &packet2); |
||
1608 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1609 | |||
1610 | memset(&packet2, 0, sizeof(packet2)); |
||
1611 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
1612 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
1613 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
1614 | } |
||
1615 | mavlink_msg_waypoint_decode(last_msg, &packet2); |
||
1616 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1617 | |||
1618 | memset(&packet2, 0, sizeof(packet2)); |
||
1619 | mavlink_msg_waypoint_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 ); |
||
1620 | mavlink_msg_waypoint_decode(last_msg, &packet2); |
||
1621 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1622 | } |
||
1623 | |||
1624 | static void mavlink_test_waypoint_request(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
1625 | { |
||
1626 | mavlink_message_t msg; |
||
1627 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
1628 | uint16_t i; |
||
1629 | mavlink_waypoint_request_t packet_in = { |
||
1630 | 5, |
||
1631 | 72, |
||
1632 | 17339, |
||
1633 | }; |
||
1634 | mavlink_waypoint_request_t packet1, packet2; |
||
1635 | memset(&packet1, 0, sizeof(packet1)); |
||
1636 | packet1.target_system = packet_in.target_system; |
||
1637 | packet1.target_component = packet_in.target_component; |
||
1638 | packet1.seq = packet_in.seq; |
||
1639 | |||
1640 | |||
1641 | |||
1642 | memset(&packet2, 0, sizeof(packet2)); |
||
1643 | mavlink_msg_waypoint_request_encode(system_id, component_id, &msg, &packet1); |
||
1644 | mavlink_msg_waypoint_request_decode(&msg, &packet2); |
||
1645 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1646 | |||
1647 | memset(&packet2, 0, sizeof(packet2)); |
||
1648 | mavlink_msg_waypoint_request_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.seq ); |
||
1649 | mavlink_msg_waypoint_request_decode(&msg, &packet2); |
||
1650 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1651 | |||
1652 | memset(&packet2, 0, sizeof(packet2)); |
||
1653 | mavlink_msg_waypoint_request_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.seq ); |
||
1654 | mavlink_msg_waypoint_request_decode(&msg, &packet2); |
||
1655 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1656 | |||
1657 | memset(&packet2, 0, sizeof(packet2)); |
||
1658 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
1659 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
1660 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
1661 | } |
||
1662 | mavlink_msg_waypoint_request_decode(last_msg, &packet2); |
||
1663 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1664 | |||
1665 | memset(&packet2, 0, sizeof(packet2)); |
||
1666 | mavlink_msg_waypoint_request_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.seq ); |
||
1667 | mavlink_msg_waypoint_request_decode(last_msg, &packet2); |
||
1668 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1669 | } |
||
1670 | |||
1671 | static void mavlink_test_waypoint_set_current(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
1672 | { |
||
1673 | mavlink_message_t msg; |
||
1674 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
1675 | uint16_t i; |
||
1676 | mavlink_waypoint_set_current_t packet_in = { |
||
1677 | 5, |
||
1678 | 72, |
||
1679 | 17339, |
||
1680 | }; |
||
1681 | mavlink_waypoint_set_current_t packet1, packet2; |
||
1682 | memset(&packet1, 0, sizeof(packet1)); |
||
1683 | packet1.target_system = packet_in.target_system; |
||
1684 | packet1.target_component = packet_in.target_component; |
||
1685 | packet1.seq = packet_in.seq; |
||
1686 | |||
1687 | |||
1688 | |||
1689 | memset(&packet2, 0, sizeof(packet2)); |
||
1690 | mavlink_msg_waypoint_set_current_encode(system_id, component_id, &msg, &packet1); |
||
1691 | mavlink_msg_waypoint_set_current_decode(&msg, &packet2); |
||
1692 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1693 | |||
1694 | memset(&packet2, 0, sizeof(packet2)); |
||
1695 | mavlink_msg_waypoint_set_current_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.seq ); |
||
1696 | mavlink_msg_waypoint_set_current_decode(&msg, &packet2); |
||
1697 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1698 | |||
1699 | memset(&packet2, 0, sizeof(packet2)); |
||
1700 | mavlink_msg_waypoint_set_current_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.seq ); |
||
1701 | mavlink_msg_waypoint_set_current_decode(&msg, &packet2); |
||
1702 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1703 | |||
1704 | memset(&packet2, 0, sizeof(packet2)); |
||
1705 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
1706 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
1707 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
1708 | } |
||
1709 | mavlink_msg_waypoint_set_current_decode(last_msg, &packet2); |
||
1710 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1711 | |||
1712 | memset(&packet2, 0, sizeof(packet2)); |
||
1713 | mavlink_msg_waypoint_set_current_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.seq ); |
||
1714 | mavlink_msg_waypoint_set_current_decode(last_msg, &packet2); |
||
1715 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1716 | } |
||
1717 | |||
1718 | static void mavlink_test_waypoint_current(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
1719 | { |
||
1720 | mavlink_message_t msg; |
||
1721 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
1722 | uint16_t i; |
||
1723 | mavlink_waypoint_current_t packet_in = { |
||
1724 | 17235, |
||
1725 | }; |
||
1726 | mavlink_waypoint_current_t packet1, packet2; |
||
1727 | memset(&packet1, 0, sizeof(packet1)); |
||
1728 | packet1.seq = packet_in.seq; |
||
1729 | |||
1730 | |||
1731 | |||
1732 | memset(&packet2, 0, sizeof(packet2)); |
||
1733 | mavlink_msg_waypoint_current_encode(system_id, component_id, &msg, &packet1); |
||
1734 | mavlink_msg_waypoint_current_decode(&msg, &packet2); |
||
1735 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1736 | |||
1737 | memset(&packet2, 0, sizeof(packet2)); |
||
1738 | mavlink_msg_waypoint_current_pack(system_id, component_id, &msg , packet1.seq ); |
||
1739 | mavlink_msg_waypoint_current_decode(&msg, &packet2); |
||
1740 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1741 | |||
1742 | memset(&packet2, 0, sizeof(packet2)); |
||
1743 | mavlink_msg_waypoint_current_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.seq ); |
||
1744 | mavlink_msg_waypoint_current_decode(&msg, &packet2); |
||
1745 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1746 | |||
1747 | memset(&packet2, 0, sizeof(packet2)); |
||
1748 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
1749 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
1750 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
1751 | } |
||
1752 | mavlink_msg_waypoint_current_decode(last_msg, &packet2); |
||
1753 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1754 | |||
1755 | memset(&packet2, 0, sizeof(packet2)); |
||
1756 | mavlink_msg_waypoint_current_send(MAVLINK_COMM_1 , packet1.seq ); |
||
1757 | mavlink_msg_waypoint_current_decode(last_msg, &packet2); |
||
1758 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1759 | } |
||
1760 | |||
1761 | static void mavlink_test_waypoint_request_list(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
1762 | { |
||
1763 | mavlink_message_t msg; |
||
1764 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
1765 | uint16_t i; |
||
1766 | mavlink_waypoint_request_list_t packet_in = { |
||
1767 | 5, |
||
1768 | 72, |
||
1769 | }; |
||
1770 | mavlink_waypoint_request_list_t packet1, packet2; |
||
1771 | memset(&packet1, 0, sizeof(packet1)); |
||
1772 | packet1.target_system = packet_in.target_system; |
||
1773 | packet1.target_component = packet_in.target_component; |
||
1774 | |||
1775 | |||
1776 | |||
1777 | memset(&packet2, 0, sizeof(packet2)); |
||
1778 | mavlink_msg_waypoint_request_list_encode(system_id, component_id, &msg, &packet1); |
||
1779 | mavlink_msg_waypoint_request_list_decode(&msg, &packet2); |
||
1780 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1781 | |||
1782 | memset(&packet2, 0, sizeof(packet2)); |
||
1783 | mavlink_msg_waypoint_request_list_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component ); |
||
1784 | mavlink_msg_waypoint_request_list_decode(&msg, &packet2); |
||
1785 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1786 | |||
1787 | memset(&packet2, 0, sizeof(packet2)); |
||
1788 | mavlink_msg_waypoint_request_list_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component ); |
||
1789 | mavlink_msg_waypoint_request_list_decode(&msg, &packet2); |
||
1790 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1791 | |||
1792 | memset(&packet2, 0, sizeof(packet2)); |
||
1793 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
1794 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
1795 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
1796 | } |
||
1797 | mavlink_msg_waypoint_request_list_decode(last_msg, &packet2); |
||
1798 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1799 | |||
1800 | memset(&packet2, 0, sizeof(packet2)); |
||
1801 | mavlink_msg_waypoint_request_list_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component ); |
||
1802 | mavlink_msg_waypoint_request_list_decode(last_msg, &packet2); |
||
1803 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1804 | } |
||
1805 | |||
1806 | static void mavlink_test_waypoint_count(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
1807 | { |
||
1808 | mavlink_message_t msg; |
||
1809 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
1810 | uint16_t i; |
||
1811 | mavlink_waypoint_count_t packet_in = { |
||
1812 | 5, |
||
1813 | 72, |
||
1814 | 17339, |
||
1815 | }; |
||
1816 | mavlink_waypoint_count_t packet1, packet2; |
||
1817 | memset(&packet1, 0, sizeof(packet1)); |
||
1818 | packet1.target_system = packet_in.target_system; |
||
1819 | packet1.target_component = packet_in.target_component; |
||
1820 | packet1.count = packet_in.count; |
||
1821 | |||
1822 | |||
1823 | |||
1824 | memset(&packet2, 0, sizeof(packet2)); |
||
1825 | mavlink_msg_waypoint_count_encode(system_id, component_id, &msg, &packet1); |
||
1826 | mavlink_msg_waypoint_count_decode(&msg, &packet2); |
||
1827 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1828 | |||
1829 | memset(&packet2, 0, sizeof(packet2)); |
||
1830 | mavlink_msg_waypoint_count_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.count ); |
||
1831 | mavlink_msg_waypoint_count_decode(&msg, &packet2); |
||
1832 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1833 | |||
1834 | memset(&packet2, 0, sizeof(packet2)); |
||
1835 | mavlink_msg_waypoint_count_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.count ); |
||
1836 | mavlink_msg_waypoint_count_decode(&msg, &packet2); |
||
1837 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1838 | |||
1839 | memset(&packet2, 0, sizeof(packet2)); |
||
1840 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
1841 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
1842 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
1843 | } |
||
1844 | mavlink_msg_waypoint_count_decode(last_msg, &packet2); |
||
1845 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1846 | |||
1847 | memset(&packet2, 0, sizeof(packet2)); |
||
1848 | mavlink_msg_waypoint_count_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.count ); |
||
1849 | mavlink_msg_waypoint_count_decode(last_msg, &packet2); |
||
1850 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1851 | } |
||
1852 | |||
1853 | static void mavlink_test_waypoint_clear_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
1854 | { |
||
1855 | mavlink_message_t msg; |
||
1856 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
1857 | uint16_t i; |
||
1858 | mavlink_waypoint_clear_all_t packet_in = { |
||
1859 | 5, |
||
1860 | 72, |
||
1861 | }; |
||
1862 | mavlink_waypoint_clear_all_t packet1, packet2; |
||
1863 | memset(&packet1, 0, sizeof(packet1)); |
||
1864 | packet1.target_system = packet_in.target_system; |
||
1865 | packet1.target_component = packet_in.target_component; |
||
1866 | |||
1867 | |||
1868 | |||
1869 | memset(&packet2, 0, sizeof(packet2)); |
||
1870 | mavlink_msg_waypoint_clear_all_encode(system_id, component_id, &msg, &packet1); |
||
1871 | mavlink_msg_waypoint_clear_all_decode(&msg, &packet2); |
||
1872 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1873 | |||
1874 | memset(&packet2, 0, sizeof(packet2)); |
||
1875 | mavlink_msg_waypoint_clear_all_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component ); |
||
1876 | mavlink_msg_waypoint_clear_all_decode(&msg, &packet2); |
||
1877 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1878 | |||
1879 | memset(&packet2, 0, sizeof(packet2)); |
||
1880 | mavlink_msg_waypoint_clear_all_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component ); |
||
1881 | mavlink_msg_waypoint_clear_all_decode(&msg, &packet2); |
||
1882 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1883 | |||
1884 | memset(&packet2, 0, sizeof(packet2)); |
||
1885 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
1886 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
1887 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
1888 | } |
||
1889 | mavlink_msg_waypoint_clear_all_decode(last_msg, &packet2); |
||
1890 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1891 | |||
1892 | memset(&packet2, 0, sizeof(packet2)); |
||
1893 | mavlink_msg_waypoint_clear_all_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component ); |
||
1894 | mavlink_msg_waypoint_clear_all_decode(last_msg, &packet2); |
||
1895 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1896 | } |
||
1897 | |||
1898 | static void mavlink_test_waypoint_reached(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
1899 | { |
||
1900 | mavlink_message_t msg; |
||
1901 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
1902 | uint16_t i; |
||
1903 | mavlink_waypoint_reached_t packet_in = { |
||
1904 | 17235, |
||
1905 | }; |
||
1906 | mavlink_waypoint_reached_t packet1, packet2; |
||
1907 | memset(&packet1, 0, sizeof(packet1)); |
||
1908 | packet1.seq = packet_in.seq; |
||
1909 | |||
1910 | |||
1911 | |||
1912 | memset(&packet2, 0, sizeof(packet2)); |
||
1913 | mavlink_msg_waypoint_reached_encode(system_id, component_id, &msg, &packet1); |
||
1914 | mavlink_msg_waypoint_reached_decode(&msg, &packet2); |
||
1915 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1916 | |||
1917 | memset(&packet2, 0, sizeof(packet2)); |
||
1918 | mavlink_msg_waypoint_reached_pack(system_id, component_id, &msg , packet1.seq ); |
||
1919 | mavlink_msg_waypoint_reached_decode(&msg, &packet2); |
||
1920 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1921 | |||
1922 | memset(&packet2, 0, sizeof(packet2)); |
||
1923 | mavlink_msg_waypoint_reached_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.seq ); |
||
1924 | mavlink_msg_waypoint_reached_decode(&msg, &packet2); |
||
1925 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1926 | |||
1927 | memset(&packet2, 0, sizeof(packet2)); |
||
1928 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
1929 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
1930 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
1931 | } |
||
1932 | mavlink_msg_waypoint_reached_decode(last_msg, &packet2); |
||
1933 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1934 | |||
1935 | memset(&packet2, 0, sizeof(packet2)); |
||
1936 | mavlink_msg_waypoint_reached_send(MAVLINK_COMM_1 , packet1.seq ); |
||
1937 | mavlink_msg_waypoint_reached_decode(last_msg, &packet2); |
||
1938 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1939 | } |
||
1940 | |||
1941 | static void mavlink_test_waypoint_ack(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
1942 | { |
||
1943 | mavlink_message_t msg; |
||
1944 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
1945 | uint16_t i; |
||
1946 | mavlink_waypoint_ack_t packet_in = { |
||
1947 | 5, |
||
1948 | 72, |
||
1949 | 139, |
||
1950 | }; |
||
1951 | mavlink_waypoint_ack_t packet1, packet2; |
||
1952 | memset(&packet1, 0, sizeof(packet1)); |
||
1953 | packet1.target_system = packet_in.target_system; |
||
1954 | packet1.target_component = packet_in.target_component; |
||
1955 | packet1.type = packet_in.type; |
||
1956 | |||
1957 | |||
1958 | |||
1959 | memset(&packet2, 0, sizeof(packet2)); |
||
1960 | mavlink_msg_waypoint_ack_encode(system_id, component_id, &msg, &packet1); |
||
1961 | mavlink_msg_waypoint_ack_decode(&msg, &packet2); |
||
1962 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1963 | |||
1964 | memset(&packet2, 0, sizeof(packet2)); |
||
1965 | mavlink_msg_waypoint_ack_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.type ); |
||
1966 | mavlink_msg_waypoint_ack_decode(&msg, &packet2); |
||
1967 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1968 | |||
1969 | memset(&packet2, 0, sizeof(packet2)); |
||
1970 | mavlink_msg_waypoint_ack_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.type ); |
||
1971 | mavlink_msg_waypoint_ack_decode(&msg, &packet2); |
||
1972 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1973 | |||
1974 | memset(&packet2, 0, sizeof(packet2)); |
||
1975 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
1976 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
1977 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
1978 | } |
||
1979 | mavlink_msg_waypoint_ack_decode(last_msg, &packet2); |
||
1980 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1981 | |||
1982 | memset(&packet2, 0, sizeof(packet2)); |
||
1983 | mavlink_msg_waypoint_ack_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.type ); |
||
1984 | mavlink_msg_waypoint_ack_decode(last_msg, &packet2); |
||
1985 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
1986 | } |
||
1987 | |||
1988 | static void mavlink_test_gps_set_global_origin(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
1989 | { |
||
1990 | mavlink_message_t msg; |
||
1991 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
1992 | uint16_t i; |
||
1993 | mavlink_gps_set_global_origin_t packet_in = { |
||
1994 | 5, |
||
1995 | 72, |
||
1996 | 963497568, |
||
1997 | 963497776, |
||
1998 | 963497984, |
||
1999 | }; |
||
2000 | mavlink_gps_set_global_origin_t packet1, packet2; |
||
2001 | memset(&packet1, 0, sizeof(packet1)); |
||
2002 | packet1.target_system = packet_in.target_system; |
||
2003 | packet1.target_component = packet_in.target_component; |
||
2004 | packet1.latitude = packet_in.latitude; |
||
2005 | packet1.longitude = packet_in.longitude; |
||
2006 | packet1.altitude = packet_in.altitude; |
||
2007 | |||
2008 | |||
2009 | |||
2010 | memset(&packet2, 0, sizeof(packet2)); |
||
2011 | mavlink_msg_gps_set_global_origin_encode(system_id, component_id, &msg, &packet1); |
||
2012 | mavlink_msg_gps_set_global_origin_decode(&msg, &packet2); |
||
2013 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2014 | |||
2015 | memset(&packet2, 0, sizeof(packet2)); |
||
2016 | mavlink_msg_gps_set_global_origin_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.latitude , packet1.longitude , packet1.altitude ); |
||
2017 | mavlink_msg_gps_set_global_origin_decode(&msg, &packet2); |
||
2018 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2019 | |||
2020 | memset(&packet2, 0, sizeof(packet2)); |
||
2021 | mavlink_msg_gps_set_global_origin_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.latitude , packet1.longitude , packet1.altitude ); |
||
2022 | mavlink_msg_gps_set_global_origin_decode(&msg, &packet2); |
||
2023 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2024 | |||
2025 | memset(&packet2, 0, sizeof(packet2)); |
||
2026 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
2027 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
2028 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
2029 | } |
||
2030 | mavlink_msg_gps_set_global_origin_decode(last_msg, &packet2); |
||
2031 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2032 | |||
2033 | memset(&packet2, 0, sizeof(packet2)); |
||
2034 | mavlink_msg_gps_set_global_origin_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.latitude , packet1.longitude , packet1.altitude ); |
||
2035 | mavlink_msg_gps_set_global_origin_decode(last_msg, &packet2); |
||
2036 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2037 | } |
||
2038 | |||
2039 | static void mavlink_test_gps_local_origin_set(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
2040 | { |
||
2041 | mavlink_message_t msg; |
||
2042 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
2043 | uint16_t i; |
||
2044 | mavlink_gps_local_origin_set_t packet_in = { |
||
2045 | 963497464, |
||
2046 | 963497672, |
||
2047 | 963497880, |
||
2048 | }; |
||
2049 | mavlink_gps_local_origin_set_t packet1, packet2; |
||
2050 | memset(&packet1, 0, sizeof(packet1)); |
||
2051 | packet1.latitude = packet_in.latitude; |
||
2052 | packet1.longitude = packet_in.longitude; |
||
2053 | packet1.altitude = packet_in.altitude; |
||
2054 | |||
2055 | |||
2056 | |||
2057 | memset(&packet2, 0, sizeof(packet2)); |
||
2058 | mavlink_msg_gps_local_origin_set_encode(system_id, component_id, &msg, &packet1); |
||
2059 | mavlink_msg_gps_local_origin_set_decode(&msg, &packet2); |
||
2060 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2061 | |||
2062 | memset(&packet2, 0, sizeof(packet2)); |
||
2063 | mavlink_msg_gps_local_origin_set_pack(system_id, component_id, &msg , packet1.latitude , packet1.longitude , packet1.altitude ); |
||
2064 | mavlink_msg_gps_local_origin_set_decode(&msg, &packet2); |
||
2065 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2066 | |||
2067 | memset(&packet2, 0, sizeof(packet2)); |
||
2068 | mavlink_msg_gps_local_origin_set_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.latitude , packet1.longitude , packet1.altitude ); |
||
2069 | mavlink_msg_gps_local_origin_set_decode(&msg, &packet2); |
||
2070 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2071 | |||
2072 | memset(&packet2, 0, sizeof(packet2)); |
||
2073 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
2074 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
2075 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
2076 | } |
||
2077 | mavlink_msg_gps_local_origin_set_decode(last_msg, &packet2); |
||
2078 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2079 | |||
2080 | memset(&packet2, 0, sizeof(packet2)); |
||
2081 | mavlink_msg_gps_local_origin_set_send(MAVLINK_COMM_1 , packet1.latitude , packet1.longitude , packet1.altitude ); |
||
2082 | mavlink_msg_gps_local_origin_set_decode(last_msg, &packet2); |
||
2083 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2084 | } |
||
2085 | |||
2086 | static void mavlink_test_local_position_setpoint_set(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
2087 | { |
||
2088 | mavlink_message_t msg; |
||
2089 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
2090 | uint16_t i; |
||
2091 | mavlink_local_position_setpoint_set_t packet_in = { |
||
2092 | 5, |
||
2093 | 72, |
||
2094 | 31.0, |
||
2095 | 59.0, |
||
2096 | 87.0, |
||
2097 | 115.0, |
||
2098 | }; |
||
2099 | mavlink_local_position_setpoint_set_t packet1, packet2; |
||
2100 | memset(&packet1, 0, sizeof(packet1)); |
||
2101 | packet1.target_system = packet_in.target_system; |
||
2102 | packet1.target_component = packet_in.target_component; |
||
2103 | packet1.x = packet_in.x; |
||
2104 | packet1.y = packet_in.y; |
||
2105 | packet1.z = packet_in.z; |
||
2106 | packet1.yaw = packet_in.yaw; |
||
2107 | |||
2108 | |||
2109 | |||
2110 | memset(&packet2, 0, sizeof(packet2)); |
||
2111 | mavlink_msg_local_position_setpoint_set_encode(system_id, component_id, &msg, &packet1); |
||
2112 | mavlink_msg_local_position_setpoint_set_decode(&msg, &packet2); |
||
2113 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2114 | |||
2115 | memset(&packet2, 0, sizeof(packet2)); |
||
2116 | mavlink_msg_local_position_setpoint_set_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.x , packet1.y , packet1.z , packet1.yaw ); |
||
2117 | mavlink_msg_local_position_setpoint_set_decode(&msg, &packet2); |
||
2118 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2119 | |||
2120 | memset(&packet2, 0, sizeof(packet2)); |
||
2121 | mavlink_msg_local_position_setpoint_set_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.x , packet1.y , packet1.z , packet1.yaw ); |
||
2122 | mavlink_msg_local_position_setpoint_set_decode(&msg, &packet2); |
||
2123 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2124 | |||
2125 | memset(&packet2, 0, sizeof(packet2)); |
||
2126 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
2127 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
2128 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
2129 | } |
||
2130 | mavlink_msg_local_position_setpoint_set_decode(last_msg, &packet2); |
||
2131 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2132 | |||
2133 | memset(&packet2, 0, sizeof(packet2)); |
||
2134 | mavlink_msg_local_position_setpoint_set_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.x , packet1.y , packet1.z , packet1.yaw ); |
||
2135 | mavlink_msg_local_position_setpoint_set_decode(last_msg, &packet2); |
||
2136 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2137 | } |
||
2138 | |||
2139 | static void mavlink_test_local_position_setpoint(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
2140 | { |
||
2141 | mavlink_message_t msg; |
||
2142 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
2143 | uint16_t i; |
||
2144 | mavlink_local_position_setpoint_t packet_in = { |
||
2145 | 17.0, |
||
2146 | 45.0, |
||
2147 | 73.0, |
||
2148 | 101.0, |
||
2149 | }; |
||
2150 | mavlink_local_position_setpoint_t packet1, packet2; |
||
2151 | memset(&packet1, 0, sizeof(packet1)); |
||
2152 | packet1.x = packet_in.x; |
||
2153 | packet1.y = packet_in.y; |
||
2154 | packet1.z = packet_in.z; |
||
2155 | packet1.yaw = packet_in.yaw; |
||
2156 | |||
2157 | |||
2158 | |||
2159 | memset(&packet2, 0, sizeof(packet2)); |
||
2160 | mavlink_msg_local_position_setpoint_encode(system_id, component_id, &msg, &packet1); |
||
2161 | mavlink_msg_local_position_setpoint_decode(&msg, &packet2); |
||
2162 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2163 | |||
2164 | memset(&packet2, 0, sizeof(packet2)); |
||
2165 | mavlink_msg_local_position_setpoint_pack(system_id, component_id, &msg , packet1.x , packet1.y , packet1.z , packet1.yaw ); |
||
2166 | mavlink_msg_local_position_setpoint_decode(&msg, &packet2); |
||
2167 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2168 | |||
2169 | memset(&packet2, 0, sizeof(packet2)); |
||
2170 | mavlink_msg_local_position_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.x , packet1.y , packet1.z , packet1.yaw ); |
||
2171 | mavlink_msg_local_position_setpoint_decode(&msg, &packet2); |
||
2172 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2173 | |||
2174 | memset(&packet2, 0, sizeof(packet2)); |
||
2175 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
2176 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
2177 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
2178 | } |
||
2179 | mavlink_msg_local_position_setpoint_decode(last_msg, &packet2); |
||
2180 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2181 | |||
2182 | memset(&packet2, 0, sizeof(packet2)); |
||
2183 | mavlink_msg_local_position_setpoint_send(MAVLINK_COMM_1 , packet1.x , packet1.y , packet1.z , packet1.yaw ); |
||
2184 | mavlink_msg_local_position_setpoint_decode(last_msg, &packet2); |
||
2185 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2186 | } |
||
2187 | |||
2188 | static void mavlink_test_control_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
2189 | { |
||
2190 | mavlink_message_t msg; |
||
2191 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
2192 | uint16_t i; |
||
2193 | mavlink_control_status_t packet_in = { |
||
2194 | 5, |
||
2195 | 72, |
||
2196 | 139, |
||
2197 | 206, |
||
2198 | 17, |
||
2199 | 84, |
||
2200 | 151, |
||
2201 | 218, |
||
2202 | }; |
||
2203 | mavlink_control_status_t packet1, packet2; |
||
2204 | memset(&packet1, 0, sizeof(packet1)); |
||
2205 | packet1.position_fix = packet_in.position_fix; |
||
2206 | packet1.vision_fix = packet_in.vision_fix; |
||
2207 | packet1.gps_fix = packet_in.gps_fix; |
||
2208 | packet1.ahrs_health = packet_in.ahrs_health; |
||
2209 | packet1.control_att = packet_in.control_att; |
||
2210 | packet1.control_pos_xy = packet_in.control_pos_xy; |
||
2211 | packet1.control_pos_z = packet_in.control_pos_z; |
||
2212 | packet1.control_pos_yaw = packet_in.control_pos_yaw; |
||
2213 | |||
2214 | |||
2215 | |||
2216 | memset(&packet2, 0, sizeof(packet2)); |
||
2217 | mavlink_msg_control_status_encode(system_id, component_id, &msg, &packet1); |
||
2218 | mavlink_msg_control_status_decode(&msg, &packet2); |
||
2219 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2220 | |||
2221 | memset(&packet2, 0, sizeof(packet2)); |
||
2222 | mavlink_msg_control_status_pack(system_id, component_id, &msg , packet1.position_fix , packet1.vision_fix , packet1.gps_fix , packet1.ahrs_health , packet1.control_att , packet1.control_pos_xy , packet1.control_pos_z , packet1.control_pos_yaw ); |
||
2223 | mavlink_msg_control_status_decode(&msg, &packet2); |
||
2224 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2225 | |||
2226 | memset(&packet2, 0, sizeof(packet2)); |
||
2227 | mavlink_msg_control_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.position_fix , packet1.vision_fix , packet1.gps_fix , packet1.ahrs_health , packet1.control_att , packet1.control_pos_xy , packet1.control_pos_z , packet1.control_pos_yaw ); |
||
2228 | mavlink_msg_control_status_decode(&msg, &packet2); |
||
2229 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2230 | |||
2231 | memset(&packet2, 0, sizeof(packet2)); |
||
2232 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
2233 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
2234 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
2235 | } |
||
2236 | mavlink_msg_control_status_decode(last_msg, &packet2); |
||
2237 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2238 | |||
2239 | memset(&packet2, 0, sizeof(packet2)); |
||
2240 | mavlink_msg_control_status_send(MAVLINK_COMM_1 , packet1.position_fix , packet1.vision_fix , packet1.gps_fix , packet1.ahrs_health , packet1.control_att , packet1.control_pos_xy , packet1.control_pos_z , packet1.control_pos_yaw ); |
||
2241 | mavlink_msg_control_status_decode(last_msg, &packet2); |
||
2242 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2243 | } |
||
2244 | |||
2245 | static void mavlink_test_safety_set_allowed_area(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
2246 | { |
||
2247 | mavlink_message_t msg; |
||
2248 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
2249 | uint16_t i; |
||
2250 | mavlink_safety_set_allowed_area_t packet_in = { |
||
2251 | 5, |
||
2252 | 72, |
||
2253 | 139, |
||
2254 | 38.0, |
||
2255 | 66.0, |
||
2256 | 94.0, |
||
2257 | 122.0, |
||
2258 | 150.0, |
||
2259 | 178.0, |
||
2260 | }; |
||
2261 | mavlink_safety_set_allowed_area_t packet1, packet2; |
||
2262 | memset(&packet1, 0, sizeof(packet1)); |
||
2263 | packet1.target_system = packet_in.target_system; |
||
2264 | packet1.target_component = packet_in.target_component; |
||
2265 | packet1.frame = packet_in.frame; |
||
2266 | packet1.p1x = packet_in.p1x; |
||
2267 | packet1.p1y = packet_in.p1y; |
||
2268 | packet1.p1z = packet_in.p1z; |
||
2269 | packet1.p2x = packet_in.p2x; |
||
2270 | packet1.p2y = packet_in.p2y; |
||
2271 | packet1.p2z = packet_in.p2z; |
||
2272 | |||
2273 | |||
2274 | |||
2275 | memset(&packet2, 0, sizeof(packet2)); |
||
2276 | mavlink_msg_safety_set_allowed_area_encode(system_id, component_id, &msg, &packet1); |
||
2277 | mavlink_msg_safety_set_allowed_area_decode(&msg, &packet2); |
||
2278 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2279 | |||
2280 | memset(&packet2, 0, sizeof(packet2)); |
||
2281 | 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 ); |
||
2282 | mavlink_msg_safety_set_allowed_area_decode(&msg, &packet2); |
||
2283 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2284 | |||
2285 | memset(&packet2, 0, sizeof(packet2)); |
||
2286 | 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 ); |
||
2287 | mavlink_msg_safety_set_allowed_area_decode(&msg, &packet2); |
||
2288 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2289 | |||
2290 | memset(&packet2, 0, sizeof(packet2)); |
||
2291 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
2292 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
2293 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
2294 | } |
||
2295 | mavlink_msg_safety_set_allowed_area_decode(last_msg, &packet2); |
||
2296 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2297 | |||
2298 | memset(&packet2, 0, sizeof(packet2)); |
||
2299 | 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 ); |
||
2300 | mavlink_msg_safety_set_allowed_area_decode(last_msg, &packet2); |
||
2301 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2302 | } |
||
2303 | |||
2304 | static void mavlink_test_safety_allowed_area(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
2305 | { |
||
2306 | mavlink_message_t msg; |
||
2307 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
2308 | uint16_t i; |
||
2309 | mavlink_safety_allowed_area_t packet_in = { |
||
2310 | 5, |
||
2311 | 24.0, |
||
2312 | 52.0, |
||
2313 | 80.0, |
||
2314 | 108.0, |
||
2315 | 136.0, |
||
2316 | 164.0, |
||
2317 | }; |
||
2318 | mavlink_safety_allowed_area_t packet1, packet2; |
||
2319 | memset(&packet1, 0, sizeof(packet1)); |
||
2320 | packet1.frame = packet_in.frame; |
||
2321 | packet1.p1x = packet_in.p1x; |
||
2322 | packet1.p1y = packet_in.p1y; |
||
2323 | packet1.p1z = packet_in.p1z; |
||
2324 | packet1.p2x = packet_in.p2x; |
||
2325 | packet1.p2y = packet_in.p2y; |
||
2326 | packet1.p2z = packet_in.p2z; |
||
2327 | |||
2328 | |||
2329 | |||
2330 | memset(&packet2, 0, sizeof(packet2)); |
||
2331 | mavlink_msg_safety_allowed_area_encode(system_id, component_id, &msg, &packet1); |
||
2332 | mavlink_msg_safety_allowed_area_decode(&msg, &packet2); |
||
2333 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2334 | |||
2335 | memset(&packet2, 0, sizeof(packet2)); |
||
2336 | 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 ); |
||
2337 | mavlink_msg_safety_allowed_area_decode(&msg, &packet2); |
||
2338 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2339 | |||
2340 | memset(&packet2, 0, sizeof(packet2)); |
||
2341 | 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 ); |
||
2342 | mavlink_msg_safety_allowed_area_decode(&msg, &packet2); |
||
2343 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2344 | |||
2345 | memset(&packet2, 0, sizeof(packet2)); |
||
2346 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
2347 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
2348 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
2349 | } |
||
2350 | mavlink_msg_safety_allowed_area_decode(last_msg, &packet2); |
||
2351 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2352 | |||
2353 | memset(&packet2, 0, sizeof(packet2)); |
||
2354 | mavlink_msg_safety_allowed_area_send(MAVLINK_COMM_1 , packet1.frame , packet1.p1x , packet1.p1y , packet1.p1z , packet1.p2x , packet1.p2y , packet1.p2z ); |
||
2355 | mavlink_msg_safety_allowed_area_decode(last_msg, &packet2); |
||
2356 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2357 | } |
||
2358 | |||
2359 | static void mavlink_test_set_roll_pitch_yaw_thrust(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
2360 | { |
||
2361 | mavlink_message_t msg; |
||
2362 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
2363 | uint16_t i; |
||
2364 | mavlink_set_roll_pitch_yaw_thrust_t packet_in = { |
||
2365 | 5, |
||
2366 | 72, |
||
2367 | 31.0, |
||
2368 | 59.0, |
||
2369 | 87.0, |
||
2370 | 115.0, |
||
2371 | }; |
||
2372 | mavlink_set_roll_pitch_yaw_thrust_t packet1, packet2; |
||
2373 | memset(&packet1, 0, sizeof(packet1)); |
||
2374 | packet1.target_system = packet_in.target_system; |
||
2375 | packet1.target_component = packet_in.target_component; |
||
2376 | packet1.roll = packet_in.roll; |
||
2377 | packet1.pitch = packet_in.pitch; |
||
2378 | packet1.yaw = packet_in.yaw; |
||
2379 | packet1.thrust = packet_in.thrust; |
||
2380 | |||
2381 | |||
2382 | |||
2383 | memset(&packet2, 0, sizeof(packet2)); |
||
2384 | mavlink_msg_set_roll_pitch_yaw_thrust_encode(system_id, component_id, &msg, &packet1); |
||
2385 | mavlink_msg_set_roll_pitch_yaw_thrust_decode(&msg, &packet2); |
||
2386 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2387 | |||
2388 | memset(&packet2, 0, sizeof(packet2)); |
||
2389 | 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 ); |
||
2390 | mavlink_msg_set_roll_pitch_yaw_thrust_decode(&msg, &packet2); |
||
2391 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2392 | |||
2393 | memset(&packet2, 0, sizeof(packet2)); |
||
2394 | 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 ); |
||
2395 | mavlink_msg_set_roll_pitch_yaw_thrust_decode(&msg, &packet2); |
||
2396 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2397 | |||
2398 | memset(&packet2, 0, sizeof(packet2)); |
||
2399 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
2400 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
2401 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
2402 | } |
||
2403 | mavlink_msg_set_roll_pitch_yaw_thrust_decode(last_msg, &packet2); |
||
2404 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2405 | |||
2406 | memset(&packet2, 0, sizeof(packet2)); |
||
2407 | 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 ); |
||
2408 | mavlink_msg_set_roll_pitch_yaw_thrust_decode(last_msg, &packet2); |
||
2409 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2410 | } |
||
2411 | |||
2412 | static void mavlink_test_set_roll_pitch_yaw_speed_thrust(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
2413 | { |
||
2414 | mavlink_message_t msg; |
||
2415 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
2416 | uint16_t i; |
||
2417 | mavlink_set_roll_pitch_yaw_speed_thrust_t packet_in = { |
||
2418 | 5, |
||
2419 | 72, |
||
2420 | 31.0, |
||
2421 | 59.0, |
||
2422 | 87.0, |
||
2423 | 115.0, |
||
2424 | }; |
||
2425 | mavlink_set_roll_pitch_yaw_speed_thrust_t packet1, packet2; |
||
2426 | memset(&packet1, 0, sizeof(packet1)); |
||
2427 | packet1.target_system = packet_in.target_system; |
||
2428 | packet1.target_component = packet_in.target_component; |
||
2429 | packet1.roll_speed = packet_in.roll_speed; |
||
2430 | packet1.pitch_speed = packet_in.pitch_speed; |
||
2431 | packet1.yaw_speed = packet_in.yaw_speed; |
||
2432 | packet1.thrust = packet_in.thrust; |
||
2433 | |||
2434 | |||
2435 | |||
2436 | memset(&packet2, 0, sizeof(packet2)); |
||
2437 | mavlink_msg_set_roll_pitch_yaw_speed_thrust_encode(system_id, component_id, &msg, &packet1); |
||
2438 | mavlink_msg_set_roll_pitch_yaw_speed_thrust_decode(&msg, &packet2); |
||
2439 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2440 | |||
2441 | memset(&packet2, 0, sizeof(packet2)); |
||
2442 | 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 ); |
||
2443 | mavlink_msg_set_roll_pitch_yaw_speed_thrust_decode(&msg, &packet2); |
||
2444 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2445 | |||
2446 | memset(&packet2, 0, sizeof(packet2)); |
||
2447 | 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 ); |
||
2448 | mavlink_msg_set_roll_pitch_yaw_speed_thrust_decode(&msg, &packet2); |
||
2449 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2450 | |||
2451 | memset(&packet2, 0, sizeof(packet2)); |
||
2452 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
2453 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
2454 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
2455 | } |
||
2456 | mavlink_msg_set_roll_pitch_yaw_speed_thrust_decode(last_msg, &packet2); |
||
2457 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2458 | |||
2459 | memset(&packet2, 0, sizeof(packet2)); |
||
2460 | 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 ); |
||
2461 | mavlink_msg_set_roll_pitch_yaw_speed_thrust_decode(last_msg, &packet2); |
||
2462 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2463 | } |
||
2464 | |||
2465 | static void mavlink_test_roll_pitch_yaw_thrust_setpoint(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
2466 | { |
||
2467 | mavlink_message_t msg; |
||
2468 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
2469 | uint16_t i; |
||
2470 | mavlink_roll_pitch_yaw_thrust_setpoint_t packet_in = { |
||
2471 | 93372036854775807ULL, |
||
2472 | 73.0, |
||
2473 | 101.0, |
||
2474 | 129.0, |
||
2475 | 157.0, |
||
2476 | }; |
||
2477 | mavlink_roll_pitch_yaw_thrust_setpoint_t packet1, packet2; |
||
2478 | memset(&packet1, 0, sizeof(packet1)); |
||
2479 | packet1.time_us = packet_in.time_us; |
||
2480 | packet1.roll = packet_in.roll; |
||
2481 | packet1.pitch = packet_in.pitch; |
||
2482 | packet1.yaw = packet_in.yaw; |
||
2483 | packet1.thrust = packet_in.thrust; |
||
2484 | |||
2485 | |||
2486 | |||
2487 | memset(&packet2, 0, sizeof(packet2)); |
||
2488 | mavlink_msg_roll_pitch_yaw_thrust_setpoint_encode(system_id, component_id, &msg, &packet1); |
||
2489 | mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(&msg, &packet2); |
||
2490 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2491 | |||
2492 | memset(&packet2, 0, sizeof(packet2)); |
||
2493 | mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack(system_id, component_id, &msg , packet1.time_us , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust ); |
||
2494 | mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(&msg, &packet2); |
||
2495 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2496 | |||
2497 | memset(&packet2, 0, sizeof(packet2)); |
||
2498 | mavlink_msg_roll_pitch_yaw_thrust_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_us , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust ); |
||
2499 | mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(&msg, &packet2); |
||
2500 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2501 | |||
2502 | memset(&packet2, 0, sizeof(packet2)); |
||
2503 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
2504 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
2505 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
2506 | } |
||
2507 | mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(last_msg, &packet2); |
||
2508 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2509 | |||
2510 | memset(&packet2, 0, sizeof(packet2)); |
||
2511 | mavlink_msg_roll_pitch_yaw_thrust_setpoint_send(MAVLINK_COMM_1 , packet1.time_us , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust ); |
||
2512 | mavlink_msg_roll_pitch_yaw_thrust_setpoint_decode(last_msg, &packet2); |
||
2513 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2514 | } |
||
2515 | |||
2516 | static void mavlink_test_roll_pitch_yaw_speed_thrust_setpoint(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
2517 | { |
||
2518 | mavlink_message_t msg; |
||
2519 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
2520 | uint16_t i; |
||
2521 | mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet_in = { |
||
2522 | 93372036854775807ULL, |
||
2523 | 73.0, |
||
2524 | 101.0, |
||
2525 | 129.0, |
||
2526 | 157.0, |
||
2527 | }; |
||
2528 | mavlink_roll_pitch_yaw_speed_thrust_setpoint_t packet1, packet2; |
||
2529 | memset(&packet1, 0, sizeof(packet1)); |
||
2530 | packet1.time_us = packet_in.time_us; |
||
2531 | packet1.roll_speed = packet_in.roll_speed; |
||
2532 | packet1.pitch_speed = packet_in.pitch_speed; |
||
2533 | packet1.yaw_speed = packet_in.yaw_speed; |
||
2534 | packet1.thrust = packet_in.thrust; |
||
2535 | |||
2536 | |||
2537 | |||
2538 | memset(&packet2, 0, sizeof(packet2)); |
||
2539 | mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_encode(system_id, component_id, &msg, &packet1); |
||
2540 | mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_decode(&msg, &packet2); |
||
2541 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2542 | |||
2543 | memset(&packet2, 0, sizeof(packet2)); |
||
2544 | mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack(system_id, component_id, &msg , packet1.time_us , packet1.roll_speed , packet1.pitch_speed , packet1.yaw_speed , packet1.thrust ); |
||
2545 | mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_decode(&msg, &packet2); |
||
2546 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2547 | |||
2548 | memset(&packet2, 0, sizeof(packet2)); |
||
2549 | mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_us , packet1.roll_speed , packet1.pitch_speed , packet1.yaw_speed , packet1.thrust ); |
||
2550 | mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_decode(&msg, &packet2); |
||
2551 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2552 | |||
2553 | memset(&packet2, 0, sizeof(packet2)); |
||
2554 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
2555 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
2556 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
2557 | } |
||
2558 | mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_decode(last_msg, &packet2); |
||
2559 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2560 | |||
2561 | memset(&packet2, 0, sizeof(packet2)); |
||
2562 | mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_send(MAVLINK_COMM_1 , packet1.time_us , packet1.roll_speed , packet1.pitch_speed , packet1.yaw_speed , packet1.thrust ); |
||
2563 | mavlink_msg_roll_pitch_yaw_speed_thrust_setpoint_decode(last_msg, &packet2); |
||
2564 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2565 | } |
||
2566 | |||
2567 | static void mavlink_test_nav_controller_output(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
2568 | { |
||
2569 | mavlink_message_t msg; |
||
2570 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
2571 | uint16_t i; |
||
2572 | mavlink_nav_controller_output_t packet_in = { |
||
2573 | 17.0, |
||
2574 | 45.0, |
||
2575 | 17651, |
||
2576 | 17755, |
||
2577 | 17859, |
||
2578 | 115.0, |
||
2579 | 143.0, |
||
2580 | 171.0, |
||
2581 | }; |
||
2582 | mavlink_nav_controller_output_t packet1, packet2; |
||
2583 | memset(&packet1, 0, sizeof(packet1)); |
||
2584 | packet1.nav_roll = packet_in.nav_roll; |
||
2585 | packet1.nav_pitch = packet_in.nav_pitch; |
||
2586 | packet1.nav_bearing = packet_in.nav_bearing; |
||
2587 | packet1.target_bearing = packet_in.target_bearing; |
||
2588 | packet1.wp_dist = packet_in.wp_dist; |
||
2589 | packet1.alt_error = packet_in.alt_error; |
||
2590 | packet1.aspd_error = packet_in.aspd_error; |
||
2591 | packet1.xtrack_error = packet_in.xtrack_error; |
||
2592 | |||
2593 | |||
2594 | |||
2595 | memset(&packet2, 0, sizeof(packet2)); |
||
2596 | mavlink_msg_nav_controller_output_encode(system_id, component_id, &msg, &packet1); |
||
2597 | mavlink_msg_nav_controller_output_decode(&msg, &packet2); |
||
2598 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2599 | |||
2600 | memset(&packet2, 0, sizeof(packet2)); |
||
2601 | 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 ); |
||
2602 | mavlink_msg_nav_controller_output_decode(&msg, &packet2); |
||
2603 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2604 | |||
2605 | memset(&packet2, 0, sizeof(packet2)); |
||
2606 | 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 ); |
||
2607 | mavlink_msg_nav_controller_output_decode(&msg, &packet2); |
||
2608 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2609 | |||
2610 | memset(&packet2, 0, sizeof(packet2)); |
||
2611 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
2612 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
2613 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
2614 | } |
||
2615 | mavlink_msg_nav_controller_output_decode(last_msg, &packet2); |
||
2616 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2617 | |||
2618 | memset(&packet2, 0, sizeof(packet2)); |
||
2619 | 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 ); |
||
2620 | mavlink_msg_nav_controller_output_decode(last_msg, &packet2); |
||
2621 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2622 | } |
||
2623 | |||
2624 | static void mavlink_test_position_target(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
2625 | { |
||
2626 | mavlink_message_t msg; |
||
2627 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
2628 | uint16_t i; |
||
2629 | mavlink_position_target_t packet_in = { |
||
2630 | 17.0, |
||
2631 | 45.0, |
||
2632 | 73.0, |
||
2633 | 101.0, |
||
2634 | }; |
||
2635 | mavlink_position_target_t packet1, packet2; |
||
2636 | memset(&packet1, 0, sizeof(packet1)); |
||
2637 | packet1.x = packet_in.x; |
||
2638 | packet1.y = packet_in.y; |
||
2639 | packet1.z = packet_in.z; |
||
2640 | packet1.yaw = packet_in.yaw; |
||
2641 | |||
2642 | |||
2643 | |||
2644 | memset(&packet2, 0, sizeof(packet2)); |
||
2645 | mavlink_msg_position_target_encode(system_id, component_id, &msg, &packet1); |
||
2646 | mavlink_msg_position_target_decode(&msg, &packet2); |
||
2647 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2648 | |||
2649 | memset(&packet2, 0, sizeof(packet2)); |
||
2650 | mavlink_msg_position_target_pack(system_id, component_id, &msg , packet1.x , packet1.y , packet1.z , packet1.yaw ); |
||
2651 | mavlink_msg_position_target_decode(&msg, &packet2); |
||
2652 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2653 | |||
2654 | memset(&packet2, 0, sizeof(packet2)); |
||
2655 | mavlink_msg_position_target_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.x , packet1.y , packet1.z , packet1.yaw ); |
||
2656 | mavlink_msg_position_target_decode(&msg, &packet2); |
||
2657 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2658 | |||
2659 | memset(&packet2, 0, sizeof(packet2)); |
||
2660 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
2661 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
2662 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
2663 | } |
||
2664 | mavlink_msg_position_target_decode(last_msg, &packet2); |
||
2665 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2666 | |||
2667 | memset(&packet2, 0, sizeof(packet2)); |
||
2668 | mavlink_msg_position_target_send(MAVLINK_COMM_1 , packet1.x , packet1.y , packet1.z , packet1.yaw ); |
||
2669 | mavlink_msg_position_target_decode(last_msg, &packet2); |
||
2670 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2671 | } |
||
2672 | |||
2673 | static void mavlink_test_state_correction(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
2674 | { |
||
2675 | mavlink_message_t msg; |
||
2676 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
2677 | uint16_t i; |
||
2678 | mavlink_state_correction_t packet_in = { |
||
2679 | 17.0, |
||
2680 | 45.0, |
||
2681 | 73.0, |
||
2682 | 101.0, |
||
2683 | 129.0, |
||
2684 | 157.0, |
||
2685 | 185.0, |
||
2686 | 213.0, |
||
2687 | 241.0, |
||
2688 | }; |
||
2689 | mavlink_state_correction_t packet1, packet2; |
||
2690 | memset(&packet1, 0, sizeof(packet1)); |
||
2691 | packet1.xErr = packet_in.xErr; |
||
2692 | packet1.yErr = packet_in.yErr; |
||
2693 | packet1.zErr = packet_in.zErr; |
||
2694 | packet1.rollErr = packet_in.rollErr; |
||
2695 | packet1.pitchErr = packet_in.pitchErr; |
||
2696 | packet1.yawErr = packet_in.yawErr; |
||
2697 | packet1.vxErr = packet_in.vxErr; |
||
2698 | packet1.vyErr = packet_in.vyErr; |
||
2699 | packet1.vzErr = packet_in.vzErr; |
||
2700 | |||
2701 | |||
2702 | |||
2703 | memset(&packet2, 0, sizeof(packet2)); |
||
2704 | mavlink_msg_state_correction_encode(system_id, component_id, &msg, &packet1); |
||
2705 | mavlink_msg_state_correction_decode(&msg, &packet2); |
||
2706 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2707 | |||
2708 | memset(&packet2, 0, sizeof(packet2)); |
||
2709 | 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 ); |
||
2710 | mavlink_msg_state_correction_decode(&msg, &packet2); |
||
2711 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2712 | |||
2713 | memset(&packet2, 0, sizeof(packet2)); |
||
2714 | 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 ); |
||
2715 | mavlink_msg_state_correction_decode(&msg, &packet2); |
||
2716 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2717 | |||
2718 | memset(&packet2, 0, sizeof(packet2)); |
||
2719 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
2720 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
2721 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
2722 | } |
||
2723 | mavlink_msg_state_correction_decode(last_msg, &packet2); |
||
2724 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2725 | |||
2726 | memset(&packet2, 0, sizeof(packet2)); |
||
2727 | 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 ); |
||
2728 | mavlink_msg_state_correction_decode(last_msg, &packet2); |
||
2729 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2730 | } |
||
2731 | |||
2732 | static void mavlink_test_set_altitude(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
2733 | { |
||
2734 | mavlink_message_t msg; |
||
2735 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
2736 | uint16_t i; |
||
2737 | mavlink_set_altitude_t packet_in = { |
||
2738 | 5, |
||
2739 | 963497516, |
||
2740 | }; |
||
2741 | mavlink_set_altitude_t packet1, packet2; |
||
2742 | memset(&packet1, 0, sizeof(packet1)); |
||
2743 | packet1.target = packet_in.target; |
||
2744 | packet1.mode = packet_in.mode; |
||
2745 | |||
2746 | |||
2747 | |||
2748 | memset(&packet2, 0, sizeof(packet2)); |
||
2749 | mavlink_msg_set_altitude_encode(system_id, component_id, &msg, &packet1); |
||
2750 | mavlink_msg_set_altitude_decode(&msg, &packet2); |
||
2751 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2752 | |||
2753 | memset(&packet2, 0, sizeof(packet2)); |
||
2754 | mavlink_msg_set_altitude_pack(system_id, component_id, &msg , packet1.target , packet1.mode ); |
||
2755 | mavlink_msg_set_altitude_decode(&msg, &packet2); |
||
2756 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2757 | |||
2758 | memset(&packet2, 0, sizeof(packet2)); |
||
2759 | mavlink_msg_set_altitude_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target , packet1.mode ); |
||
2760 | mavlink_msg_set_altitude_decode(&msg, &packet2); |
||
2761 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2762 | |||
2763 | memset(&packet2, 0, sizeof(packet2)); |
||
2764 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
2765 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
2766 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
2767 | } |
||
2768 | mavlink_msg_set_altitude_decode(last_msg, &packet2); |
||
2769 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2770 | |||
2771 | memset(&packet2, 0, sizeof(packet2)); |
||
2772 | mavlink_msg_set_altitude_send(MAVLINK_COMM_1 , packet1.target , packet1.mode ); |
||
2773 | mavlink_msg_set_altitude_decode(last_msg, &packet2); |
||
2774 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2775 | } |
||
2776 | |||
2777 | static void mavlink_test_request_data_stream(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
2778 | { |
||
2779 | mavlink_message_t msg; |
||
2780 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
2781 | uint16_t i; |
||
2782 | mavlink_request_data_stream_t packet_in = { |
||
2783 | 5, |
||
2784 | 72, |
||
2785 | 139, |
||
2786 | 17391, |
||
2787 | 84, |
||
2788 | }; |
||
2789 | mavlink_request_data_stream_t packet1, packet2; |
||
2790 | memset(&packet1, 0, sizeof(packet1)); |
||
2791 | packet1.target_system = packet_in.target_system; |
||
2792 | packet1.target_component = packet_in.target_component; |
||
2793 | packet1.req_stream_id = packet_in.req_stream_id; |
||
2794 | packet1.req_message_rate = packet_in.req_message_rate; |
||
2795 | packet1.start_stop = packet_in.start_stop; |
||
2796 | |||
2797 | |||
2798 | |||
2799 | memset(&packet2, 0, sizeof(packet2)); |
||
2800 | mavlink_msg_request_data_stream_encode(system_id, component_id, &msg, &packet1); |
||
2801 | mavlink_msg_request_data_stream_decode(&msg, &packet2); |
||
2802 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2803 | |||
2804 | memset(&packet2, 0, sizeof(packet2)); |
||
2805 | 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 ); |
||
2806 | mavlink_msg_request_data_stream_decode(&msg, &packet2); |
||
2807 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2808 | |||
2809 | memset(&packet2, 0, sizeof(packet2)); |
||
2810 | 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 ); |
||
2811 | mavlink_msg_request_data_stream_decode(&msg, &packet2); |
||
2812 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2813 | |||
2814 | memset(&packet2, 0, sizeof(packet2)); |
||
2815 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
2816 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
2817 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
2818 | } |
||
2819 | mavlink_msg_request_data_stream_decode(last_msg, &packet2); |
||
2820 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2821 | |||
2822 | memset(&packet2, 0, sizeof(packet2)); |
||
2823 | 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 ); |
||
2824 | mavlink_msg_request_data_stream_decode(last_msg, &packet2); |
||
2825 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2826 | } |
||
2827 | |||
2828 | static void mavlink_test_hil_state(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
2829 | { |
||
2830 | mavlink_message_t msg; |
||
2831 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
2832 | uint16_t i; |
||
2833 | mavlink_hil_state_t packet_in = { |
||
2834 | 93372036854775807ULL, |
||
2835 | 73.0, |
||
2836 | 101.0, |
||
2837 | 129.0, |
||
2838 | 157.0, |
||
2839 | 185.0, |
||
2840 | 213.0, |
||
2841 | 963499128, |
||
2842 | 963499336, |
||
2843 | 963499544, |
||
2844 | 19523, |
||
2845 | 19627, |
||
2846 | 19731, |
||
2847 | 19835, |
||
2848 | 19939, |
||
2849 | 20043, |
||
2850 | }; |
||
2851 | mavlink_hil_state_t packet1, packet2; |
||
2852 | memset(&packet1, 0, sizeof(packet1)); |
||
2853 | packet1.usec = packet_in.usec; |
||
2854 | packet1.roll = packet_in.roll; |
||
2855 | packet1.pitch = packet_in.pitch; |
||
2856 | packet1.yaw = packet_in.yaw; |
||
2857 | packet1.rollspeed = packet_in.rollspeed; |
||
2858 | packet1.pitchspeed = packet_in.pitchspeed; |
||
2859 | packet1.yawspeed = packet_in.yawspeed; |
||
2860 | packet1.lat = packet_in.lat; |
||
2861 | packet1.lon = packet_in.lon; |
||
2862 | packet1.alt = packet_in.alt; |
||
2863 | packet1.vx = packet_in.vx; |
||
2864 | packet1.vy = packet_in.vy; |
||
2865 | packet1.vz = packet_in.vz; |
||
2866 | packet1.xacc = packet_in.xacc; |
||
2867 | packet1.yacc = packet_in.yacc; |
||
2868 | packet1.zacc = packet_in.zacc; |
||
2869 | |||
2870 | |||
2871 | |||
2872 | memset(&packet2, 0, sizeof(packet2)); |
||
2873 | mavlink_msg_hil_state_encode(system_id, component_id, &msg, &packet1); |
||
2874 | mavlink_msg_hil_state_decode(&msg, &packet2); |
||
2875 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2876 | |||
2877 | memset(&packet2, 0, sizeof(packet2)); |
||
2878 | mavlink_msg_hil_state_pack(system_id, component_id, &msg , packet1.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 ); |
||
2879 | mavlink_msg_hil_state_decode(&msg, &packet2); |
||
2880 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2881 | |||
2882 | memset(&packet2, 0, sizeof(packet2)); |
||
2883 | mavlink_msg_hil_state_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.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 ); |
||
2884 | mavlink_msg_hil_state_decode(&msg, &packet2); |
||
2885 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2886 | |||
2887 | memset(&packet2, 0, sizeof(packet2)); |
||
2888 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
2889 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
2890 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
2891 | } |
||
2892 | mavlink_msg_hil_state_decode(last_msg, &packet2); |
||
2893 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2894 | |||
2895 | memset(&packet2, 0, sizeof(packet2)); |
||
2896 | mavlink_msg_hil_state_send(MAVLINK_COMM_1 , packet1.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 ); |
||
2897 | mavlink_msg_hil_state_decode(last_msg, &packet2); |
||
2898 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2899 | } |
||
2900 | |||
2901 | static void mavlink_test_hil_controls(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
2902 | { |
||
2903 | mavlink_message_t msg; |
||
2904 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
2905 | uint16_t i; |
||
2906 | mavlink_hil_controls_t packet_in = { |
||
2907 | 93372036854775807ULL, |
||
2908 | 73.0, |
||
2909 | 101.0, |
||
2910 | 129.0, |
||
2911 | 157.0, |
||
2912 | 77, |
||
2913 | 144, |
||
2914 | }; |
||
2915 | mavlink_hil_controls_t packet1, packet2; |
||
2916 | memset(&packet1, 0, sizeof(packet1)); |
||
2917 | packet1.time_us = packet_in.time_us; |
||
2918 | packet1.roll_ailerons = packet_in.roll_ailerons; |
||
2919 | packet1.pitch_elevator = packet_in.pitch_elevator; |
||
2920 | packet1.yaw_rudder = packet_in.yaw_rudder; |
||
2921 | packet1.throttle = packet_in.throttle; |
||
2922 | packet1.mode = packet_in.mode; |
||
2923 | packet1.nav_mode = packet_in.nav_mode; |
||
2924 | |||
2925 | |||
2926 | |||
2927 | memset(&packet2, 0, sizeof(packet2)); |
||
2928 | mavlink_msg_hil_controls_encode(system_id, component_id, &msg, &packet1); |
||
2929 | mavlink_msg_hil_controls_decode(&msg, &packet2); |
||
2930 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2931 | |||
2932 | memset(&packet2, 0, sizeof(packet2)); |
||
2933 | mavlink_msg_hil_controls_pack(system_id, component_id, &msg , packet1.time_us , packet1.roll_ailerons , packet1.pitch_elevator , packet1.yaw_rudder , packet1.throttle , packet1.mode , packet1.nav_mode ); |
||
2934 | mavlink_msg_hil_controls_decode(&msg, &packet2); |
||
2935 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2936 | |||
2937 | memset(&packet2, 0, sizeof(packet2)); |
||
2938 | mavlink_msg_hil_controls_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_us , packet1.roll_ailerons , packet1.pitch_elevator , packet1.yaw_rudder , packet1.throttle , packet1.mode , packet1.nav_mode ); |
||
2939 | mavlink_msg_hil_controls_decode(&msg, &packet2); |
||
2940 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2941 | |||
2942 | memset(&packet2, 0, sizeof(packet2)); |
||
2943 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
2944 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
2945 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
2946 | } |
||
2947 | mavlink_msg_hil_controls_decode(last_msg, &packet2); |
||
2948 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2949 | |||
2950 | memset(&packet2, 0, sizeof(packet2)); |
||
2951 | mavlink_msg_hil_controls_send(MAVLINK_COMM_1 , packet1.time_us , packet1.roll_ailerons , packet1.pitch_elevator , packet1.yaw_rudder , packet1.throttle , packet1.mode , packet1.nav_mode ); |
||
2952 | mavlink_msg_hil_controls_decode(last_msg, &packet2); |
||
2953 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2954 | } |
||
2955 | |||
2956 | static void mavlink_test_manual_control(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
2957 | { |
||
2958 | mavlink_message_t msg; |
||
2959 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
2960 | uint16_t i; |
||
2961 | mavlink_manual_control_t packet_in = { |
||
2962 | 5, |
||
2963 | 24.0, |
||
2964 | 52.0, |
||
2965 | 80.0, |
||
2966 | 108.0, |
||
2967 | 120, |
||
2968 | 187, |
||
2969 | 254, |
||
2970 | 65, |
||
2971 | }; |
||
2972 | mavlink_manual_control_t packet1, packet2; |
||
2973 | memset(&packet1, 0, sizeof(packet1)); |
||
2974 | packet1.target = packet_in.target; |
||
2975 | packet1.roll = packet_in.roll; |
||
2976 | packet1.pitch = packet_in.pitch; |
||
2977 | packet1.yaw = packet_in.yaw; |
||
2978 | packet1.thrust = packet_in.thrust; |
||
2979 | packet1.roll_manual = packet_in.roll_manual; |
||
2980 | packet1.pitch_manual = packet_in.pitch_manual; |
||
2981 | packet1.yaw_manual = packet_in.yaw_manual; |
||
2982 | packet1.thrust_manual = packet_in.thrust_manual; |
||
2983 | |||
2984 | |||
2985 | |||
2986 | memset(&packet2, 0, sizeof(packet2)); |
||
2987 | mavlink_msg_manual_control_encode(system_id, component_id, &msg, &packet1); |
||
2988 | mavlink_msg_manual_control_decode(&msg, &packet2); |
||
2989 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2990 | |||
2991 | memset(&packet2, 0, sizeof(packet2)); |
||
2992 | mavlink_msg_manual_control_pack(system_id, component_id, &msg , packet1.target , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.roll_manual , packet1.pitch_manual , packet1.yaw_manual , packet1.thrust_manual ); |
||
2993 | mavlink_msg_manual_control_decode(&msg, &packet2); |
||
2994 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
2995 | |||
2996 | memset(&packet2, 0, sizeof(packet2)); |
||
2997 | mavlink_msg_manual_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.roll_manual , packet1.pitch_manual , packet1.yaw_manual , packet1.thrust_manual ); |
||
2998 | mavlink_msg_manual_control_decode(&msg, &packet2); |
||
2999 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3000 | |||
3001 | memset(&packet2, 0, sizeof(packet2)); |
||
3002 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
3003 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
3004 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
3005 | } |
||
3006 | mavlink_msg_manual_control_decode(last_msg, &packet2); |
||
3007 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3008 | |||
3009 | memset(&packet2, 0, sizeof(packet2)); |
||
3010 | mavlink_msg_manual_control_send(MAVLINK_COMM_1 , packet1.target , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.roll_manual , packet1.pitch_manual , packet1.yaw_manual , packet1.thrust_manual ); |
||
3011 | mavlink_msg_manual_control_decode(last_msg, &packet2); |
||
3012 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3013 | } |
||
3014 | |||
3015 | static void mavlink_test_rc_channels_override(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
3016 | { |
||
3017 | mavlink_message_t msg; |
||
3018 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
3019 | uint16_t i; |
||
3020 | mavlink_rc_channels_override_t packet_in = { |
||
3021 | 5, |
||
3022 | 72, |
||
3023 | 17339, |
||
3024 | 17443, |
||
3025 | 17547, |
||
3026 | 17651, |
||
3027 | 17755, |
||
3028 | 17859, |
||
3029 | 17963, |
||
3030 | 18067, |
||
3031 | }; |
||
3032 | mavlink_rc_channels_override_t packet1, packet2; |
||
3033 | memset(&packet1, 0, sizeof(packet1)); |
||
3034 | packet1.target_system = packet_in.target_system; |
||
3035 | packet1.target_component = packet_in.target_component; |
||
3036 | packet1.chan1_raw = packet_in.chan1_raw; |
||
3037 | packet1.chan2_raw = packet_in.chan2_raw; |
||
3038 | packet1.chan3_raw = packet_in.chan3_raw; |
||
3039 | packet1.chan4_raw = packet_in.chan4_raw; |
||
3040 | packet1.chan5_raw = packet_in.chan5_raw; |
||
3041 | packet1.chan6_raw = packet_in.chan6_raw; |
||
3042 | packet1.chan7_raw = packet_in.chan7_raw; |
||
3043 | packet1.chan8_raw = packet_in.chan8_raw; |
||
3044 | |||
3045 | |||
3046 | |||
3047 | memset(&packet2, 0, sizeof(packet2)); |
||
3048 | mavlink_msg_rc_channels_override_encode(system_id, component_id, &msg, &packet1); |
||
3049 | mavlink_msg_rc_channels_override_decode(&msg, &packet2); |
||
3050 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3051 | |||
3052 | memset(&packet2, 0, sizeof(packet2)); |
||
3053 | 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 ); |
||
3054 | mavlink_msg_rc_channels_override_decode(&msg, &packet2); |
||
3055 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3056 | |||
3057 | memset(&packet2, 0, sizeof(packet2)); |
||
3058 | 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 ); |
||
3059 | mavlink_msg_rc_channels_override_decode(&msg, &packet2); |
||
3060 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3061 | |||
3062 | memset(&packet2, 0, sizeof(packet2)); |
||
3063 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
3064 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
3065 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
3066 | } |
||
3067 | mavlink_msg_rc_channels_override_decode(last_msg, &packet2); |
||
3068 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3069 | |||
3070 | memset(&packet2, 0, sizeof(packet2)); |
||
3071 | 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 ); |
||
3072 | mavlink_msg_rc_channels_override_decode(last_msg, &packet2); |
||
3073 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3074 | } |
||
3075 | |||
3076 | static void mavlink_test_global_position_int(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
3077 | { |
||
3078 | mavlink_message_t msg; |
||
3079 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
3080 | uint16_t i; |
||
3081 | mavlink_global_position_int_t packet_in = { |
||
3082 | 963497464, |
||
3083 | 963497672, |
||
3084 | 963497880, |
||
3085 | 17859, |
||
3086 | 17963, |
||
3087 | 18067, |
||
3088 | }; |
||
3089 | mavlink_global_position_int_t packet1, packet2; |
||
3090 | memset(&packet1, 0, sizeof(packet1)); |
||
3091 | packet1.lat = packet_in.lat; |
||
3092 | packet1.lon = packet_in.lon; |
||
3093 | packet1.alt = packet_in.alt; |
||
3094 | packet1.vx = packet_in.vx; |
||
3095 | packet1.vy = packet_in.vy; |
||
3096 | packet1.vz = packet_in.vz; |
||
3097 | |||
3098 | |||
3099 | |||
3100 | memset(&packet2, 0, sizeof(packet2)); |
||
3101 | mavlink_msg_global_position_int_encode(system_id, component_id, &msg, &packet1); |
||
3102 | mavlink_msg_global_position_int_decode(&msg, &packet2); |
||
3103 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3104 | |||
3105 | memset(&packet2, 0, sizeof(packet2)); |
||
3106 | mavlink_msg_global_position_int_pack(system_id, component_id, &msg , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz ); |
||
3107 | mavlink_msg_global_position_int_decode(&msg, &packet2); |
||
3108 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3109 | |||
3110 | memset(&packet2, 0, sizeof(packet2)); |
||
3111 | mavlink_msg_global_position_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz ); |
||
3112 | mavlink_msg_global_position_int_decode(&msg, &packet2); |
||
3113 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3114 | |||
3115 | memset(&packet2, 0, sizeof(packet2)); |
||
3116 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
3117 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
3118 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
3119 | } |
||
3120 | mavlink_msg_global_position_int_decode(last_msg, &packet2); |
||
3121 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3122 | |||
3123 | memset(&packet2, 0, sizeof(packet2)); |
||
3124 | mavlink_msg_global_position_int_send(MAVLINK_COMM_1 , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz ); |
||
3125 | mavlink_msg_global_position_int_decode(last_msg, &packet2); |
||
3126 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3127 | } |
||
3128 | |||
3129 | static void mavlink_test_vfr_hud(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
3130 | { |
||
3131 | mavlink_message_t msg; |
||
3132 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
3133 | uint16_t i; |
||
3134 | mavlink_vfr_hud_t packet_in = { |
||
3135 | 17.0, |
||
3136 | 45.0, |
||
3137 | 17651, |
||
3138 | 17755, |
||
3139 | 101.0, |
||
3140 | 129.0, |
||
3141 | }; |
||
3142 | mavlink_vfr_hud_t packet1, packet2; |
||
3143 | memset(&packet1, 0, sizeof(packet1)); |
||
3144 | packet1.airspeed = packet_in.airspeed; |
||
3145 | packet1.groundspeed = packet_in.groundspeed; |
||
3146 | packet1.heading = packet_in.heading; |
||
3147 | packet1.throttle = packet_in.throttle; |
||
3148 | packet1.alt = packet_in.alt; |
||
3149 | packet1.climb = packet_in.climb; |
||
3150 | |||
3151 | |||
3152 | |||
3153 | memset(&packet2, 0, sizeof(packet2)); |
||
3154 | mavlink_msg_vfr_hud_encode(system_id, component_id, &msg, &packet1); |
||
3155 | mavlink_msg_vfr_hud_decode(&msg, &packet2); |
||
3156 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3157 | |||
3158 | memset(&packet2, 0, sizeof(packet2)); |
||
3159 | mavlink_msg_vfr_hud_pack(system_id, component_id, &msg , packet1.airspeed , packet1.groundspeed , packet1.heading , packet1.throttle , packet1.alt , packet1.climb ); |
||
3160 | mavlink_msg_vfr_hud_decode(&msg, &packet2); |
||
3161 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3162 | |||
3163 | memset(&packet2, 0, sizeof(packet2)); |
||
3164 | 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 ); |
||
3165 | mavlink_msg_vfr_hud_decode(&msg, &packet2); |
||
3166 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3167 | |||
3168 | memset(&packet2, 0, sizeof(packet2)); |
||
3169 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
3170 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
3171 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
3172 | } |
||
3173 | mavlink_msg_vfr_hud_decode(last_msg, &packet2); |
||
3174 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3175 | |||
3176 | memset(&packet2, 0, sizeof(packet2)); |
||
3177 | mavlink_msg_vfr_hud_send(MAVLINK_COMM_1 , packet1.airspeed , packet1.groundspeed , packet1.heading , packet1.throttle , packet1.alt , packet1.climb ); |
||
3178 | mavlink_msg_vfr_hud_decode(last_msg, &packet2); |
||
3179 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3180 | } |
||
3181 | |||
3182 | static void mavlink_test_command(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
3183 | { |
||
3184 | mavlink_message_t msg; |
||
3185 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
3186 | uint16_t i; |
||
3187 | mavlink_command_t packet_in = { |
||
3188 | 5, |
||
3189 | 72, |
||
3190 | 139, |
||
3191 | 206, |
||
3192 | 45.0, |
||
3193 | 73.0, |
||
3194 | 101.0, |
||
3195 | 129.0, |
||
3196 | }; |
||
3197 | mavlink_command_t packet1, packet2; |
||
3198 | memset(&packet1, 0, sizeof(packet1)); |
||
3199 | packet1.target_system = packet_in.target_system; |
||
3200 | packet1.target_component = packet_in.target_component; |
||
3201 | packet1.command = packet_in.command; |
||
3202 | packet1.confirmation = packet_in.confirmation; |
||
3203 | packet1.param1 = packet_in.param1; |
||
3204 | packet1.param2 = packet_in.param2; |
||
3205 | packet1.param3 = packet_in.param3; |
||
3206 | packet1.param4 = packet_in.param4; |
||
3207 | |||
3208 | |||
3209 | |||
3210 | memset(&packet2, 0, sizeof(packet2)); |
||
3211 | mavlink_msg_command_encode(system_id, component_id, &msg, &packet1); |
||
3212 | mavlink_msg_command_decode(&msg, &packet2); |
||
3213 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3214 | |||
3215 | memset(&packet2, 0, sizeof(packet2)); |
||
3216 | mavlink_msg_command_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.command , packet1.confirmation , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 ); |
||
3217 | mavlink_msg_command_decode(&msg, &packet2); |
||
3218 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3219 | |||
3220 | memset(&packet2, 0, sizeof(packet2)); |
||
3221 | mavlink_msg_command_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 ); |
||
3222 | mavlink_msg_command_decode(&msg, &packet2); |
||
3223 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3224 | |||
3225 | memset(&packet2, 0, sizeof(packet2)); |
||
3226 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
3227 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
3228 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
3229 | } |
||
3230 | mavlink_msg_command_decode(last_msg, &packet2); |
||
3231 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3232 | |||
3233 | memset(&packet2, 0, sizeof(packet2)); |
||
3234 | mavlink_msg_command_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.command , packet1.confirmation , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 ); |
||
3235 | mavlink_msg_command_decode(last_msg, &packet2); |
||
3236 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3237 | } |
||
3238 | |||
3239 | static void mavlink_test_command_ack(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
3240 | { |
||
3241 | mavlink_message_t msg; |
||
3242 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
3243 | uint16_t i; |
||
3244 | mavlink_command_ack_t packet_in = { |
||
3245 | 17.0, |
||
3246 | 45.0, |
||
3247 | }; |
||
3248 | mavlink_command_ack_t packet1, packet2; |
||
3249 | memset(&packet1, 0, sizeof(packet1)); |
||
3250 | packet1.command = packet_in.command; |
||
3251 | packet1.result = packet_in.result; |
||
3252 | |||
3253 | |||
3254 | |||
3255 | memset(&packet2, 0, sizeof(packet2)); |
||
3256 | mavlink_msg_command_ack_encode(system_id, component_id, &msg, &packet1); |
||
3257 | mavlink_msg_command_ack_decode(&msg, &packet2); |
||
3258 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3259 | |||
3260 | memset(&packet2, 0, sizeof(packet2)); |
||
3261 | mavlink_msg_command_ack_pack(system_id, component_id, &msg , packet1.command , packet1.result ); |
||
3262 | mavlink_msg_command_ack_decode(&msg, &packet2); |
||
3263 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3264 | |||
3265 | memset(&packet2, 0, sizeof(packet2)); |
||
3266 | mavlink_msg_command_ack_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.command , packet1.result ); |
||
3267 | mavlink_msg_command_ack_decode(&msg, &packet2); |
||
3268 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3269 | |||
3270 | memset(&packet2, 0, sizeof(packet2)); |
||
3271 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
3272 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
3273 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
3274 | } |
||
3275 | mavlink_msg_command_ack_decode(last_msg, &packet2); |
||
3276 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3277 | |||
3278 | memset(&packet2, 0, sizeof(packet2)); |
||
3279 | mavlink_msg_command_ack_send(MAVLINK_COMM_1 , packet1.command , packet1.result ); |
||
3280 | mavlink_msg_command_ack_decode(last_msg, &packet2); |
||
3281 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3282 | } |
||
3283 | |||
3284 | static void mavlink_test_optical_flow(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
3285 | { |
||
3286 | mavlink_message_t msg; |
||
3287 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
3288 | uint16_t i; |
||
3289 | mavlink_optical_flow_t packet_in = { |
||
3290 | 93372036854775807ULL, |
||
3291 | 29, |
||
3292 | 17703, |
||
3293 | 17807, |
||
3294 | 108, |
||
3295 | 115.0, |
||
3296 | }; |
||
3297 | mavlink_optical_flow_t packet1, packet2; |
||
3298 | memset(&packet1, 0, sizeof(packet1)); |
||
3299 | packet1.time = packet_in.time; |
||
3300 | packet1.sensor_id = packet_in.sensor_id; |
||
3301 | packet1.flow_x = packet_in.flow_x; |
||
3302 | packet1.flow_y = packet_in.flow_y; |
||
3303 | packet1.quality = packet_in.quality; |
||
3304 | packet1.ground_distance = packet_in.ground_distance; |
||
3305 | |||
3306 | |||
3307 | |||
3308 | memset(&packet2, 0, sizeof(packet2)); |
||
3309 | mavlink_msg_optical_flow_encode(system_id, component_id, &msg, &packet1); |
||
3310 | mavlink_msg_optical_flow_decode(&msg, &packet2); |
||
3311 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3312 | |||
3313 | memset(&packet2, 0, sizeof(packet2)); |
||
3314 | mavlink_msg_optical_flow_pack(system_id, component_id, &msg , packet1.time , packet1.sensor_id , packet1.flow_x , packet1.flow_y , packet1.quality , packet1.ground_distance ); |
||
3315 | mavlink_msg_optical_flow_decode(&msg, &packet2); |
||
3316 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3317 | |||
3318 | memset(&packet2, 0, sizeof(packet2)); |
||
3319 | mavlink_msg_optical_flow_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time , packet1.sensor_id , packet1.flow_x , packet1.flow_y , packet1.quality , packet1.ground_distance ); |
||
3320 | mavlink_msg_optical_flow_decode(&msg, &packet2); |
||
3321 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3322 | |||
3323 | memset(&packet2, 0, sizeof(packet2)); |
||
3324 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
3325 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
3326 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
3327 | } |
||
3328 | mavlink_msg_optical_flow_decode(last_msg, &packet2); |
||
3329 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3330 | |||
3331 | memset(&packet2, 0, sizeof(packet2)); |
||
3332 | mavlink_msg_optical_flow_send(MAVLINK_COMM_1 , packet1.time , packet1.sensor_id , packet1.flow_x , packet1.flow_y , packet1.quality , packet1.ground_distance ); |
||
3333 | mavlink_msg_optical_flow_decode(last_msg, &packet2); |
||
3334 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3335 | } |
||
3336 | |||
3337 | static void mavlink_test_object_detection_event(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
3338 | { |
||
3339 | mavlink_message_t msg; |
||
3340 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
3341 | uint16_t i; |
||
3342 | mavlink_object_detection_event_t packet_in = { |
||
3343 | 963497464, |
||
3344 | 17443, |
||
3345 | 151, |
||
3346 | "HIJKLMNOPQRSTUVWXYZ", |
||
3347 | 22, |
||
3348 | 213.0, |
||
3349 | 241.0, |
||
3350 | }; |
||
3351 | mavlink_object_detection_event_t packet1, packet2; |
||
3352 | memset(&packet1, 0, sizeof(packet1)); |
||
3353 | packet1.time = packet_in.time; |
||
3354 | packet1.object_id = packet_in.object_id; |
||
3355 | packet1.type = packet_in.type; |
||
3356 | packet1.quality = packet_in.quality; |
||
3357 | packet1.bearing = packet_in.bearing; |
||
3358 | packet1.distance = packet_in.distance; |
||
3359 | |||
3360 | mav_array_memcpy(packet1.name, packet_in.name, sizeof(char)*20); |
||
3361 | |||
3362 | |||
3363 | memset(&packet2, 0, sizeof(packet2)); |
||
3364 | mavlink_msg_object_detection_event_encode(system_id, component_id, &msg, &packet1); |
||
3365 | mavlink_msg_object_detection_event_decode(&msg, &packet2); |
||
3366 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3367 | |||
3368 | memset(&packet2, 0, sizeof(packet2)); |
||
3369 | mavlink_msg_object_detection_event_pack(system_id, component_id, &msg , packet1.time , packet1.object_id , packet1.type , packet1.name , packet1.quality , packet1.bearing , packet1.distance ); |
||
3370 | mavlink_msg_object_detection_event_decode(&msg, &packet2); |
||
3371 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3372 | |||
3373 | memset(&packet2, 0, sizeof(packet2)); |
||
3374 | mavlink_msg_object_detection_event_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time , packet1.object_id , packet1.type , packet1.name , packet1.quality , packet1.bearing , packet1.distance ); |
||
3375 | mavlink_msg_object_detection_event_decode(&msg, &packet2); |
||
3376 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3377 | |||
3378 | memset(&packet2, 0, sizeof(packet2)); |
||
3379 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
3380 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
3381 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
3382 | } |
||
3383 | mavlink_msg_object_detection_event_decode(last_msg, &packet2); |
||
3384 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3385 | |||
3386 | memset(&packet2, 0, sizeof(packet2)); |
||
3387 | mavlink_msg_object_detection_event_send(MAVLINK_COMM_1 , packet1.time , packet1.object_id , packet1.type , packet1.name , packet1.quality , packet1.bearing , packet1.distance ); |
||
3388 | mavlink_msg_object_detection_event_decode(last_msg, &packet2); |
||
3389 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3390 | } |
||
3391 | |||
3392 | static void mavlink_test_debug_vect(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
3393 | { |
||
3394 | mavlink_message_t msg; |
||
3395 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
3396 | uint16_t i; |
||
3397 | mavlink_debug_vect_t packet_in = { |
||
3398 | "ABCDEFGHI", |
||
3399 | 93372036854776437ULL, |
||
3400 | 143.0, |
||
3401 | 171.0, |
||
3402 | 199.0, |
||
3403 | }; |
||
3404 | mavlink_debug_vect_t packet1, packet2; |
||
3405 | memset(&packet1, 0, sizeof(packet1)); |
||
3406 | packet1.usec = packet_in.usec; |
||
3407 | packet1.x = packet_in.x; |
||
3408 | packet1.y = packet_in.y; |
||
3409 | packet1.z = packet_in.z; |
||
3410 | |||
3411 | mav_array_memcpy(packet1.name, packet_in.name, sizeof(char)*10); |
||
3412 | |||
3413 | |||
3414 | memset(&packet2, 0, sizeof(packet2)); |
||
3415 | mavlink_msg_debug_vect_encode(system_id, component_id, &msg, &packet1); |
||
3416 | mavlink_msg_debug_vect_decode(&msg, &packet2); |
||
3417 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3418 | |||
3419 | memset(&packet2, 0, sizeof(packet2)); |
||
3420 | mavlink_msg_debug_vect_pack(system_id, component_id, &msg , packet1.name , packet1.usec , packet1.x , packet1.y , packet1.z ); |
||
3421 | mavlink_msg_debug_vect_decode(&msg, &packet2); |
||
3422 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3423 | |||
3424 | memset(&packet2, 0, sizeof(packet2)); |
||
3425 | mavlink_msg_debug_vect_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.name , packet1.usec , packet1.x , packet1.y , packet1.z ); |
||
3426 | mavlink_msg_debug_vect_decode(&msg, &packet2); |
||
3427 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3428 | |||
3429 | memset(&packet2, 0, sizeof(packet2)); |
||
3430 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
3431 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
3432 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
3433 | } |
||
3434 | mavlink_msg_debug_vect_decode(last_msg, &packet2); |
||
3435 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3436 | |||
3437 | memset(&packet2, 0, sizeof(packet2)); |
||
3438 | mavlink_msg_debug_vect_send(MAVLINK_COMM_1 , packet1.name , packet1.usec , packet1.x , packet1.y , packet1.z ); |
||
3439 | mavlink_msg_debug_vect_decode(last_msg, &packet2); |
||
3440 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3441 | } |
||
3442 | |||
3443 | static void mavlink_test_named_value_float(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
3444 | { |
||
3445 | mavlink_message_t msg; |
||
3446 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
3447 | uint16_t i; |
||
3448 | mavlink_named_value_float_t packet_in = { |
||
3449 | "ABCDEFGHI", |
||
3450 | 87.0, |
||
3451 | }; |
||
3452 | mavlink_named_value_float_t packet1, packet2; |
||
3453 | memset(&packet1, 0, sizeof(packet1)); |
||
3454 | packet1.value = packet_in.value; |
||
3455 | |||
3456 | mav_array_memcpy(packet1.name, packet_in.name, sizeof(char)*10); |
||
3457 | |||
3458 | |||
3459 | memset(&packet2, 0, sizeof(packet2)); |
||
3460 | mavlink_msg_named_value_float_encode(system_id, component_id, &msg, &packet1); |
||
3461 | mavlink_msg_named_value_float_decode(&msg, &packet2); |
||
3462 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3463 | |||
3464 | memset(&packet2, 0, sizeof(packet2)); |
||
3465 | mavlink_msg_named_value_float_pack(system_id, component_id, &msg , packet1.name , packet1.value ); |
||
3466 | mavlink_msg_named_value_float_decode(&msg, &packet2); |
||
3467 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3468 | |||
3469 | memset(&packet2, 0, sizeof(packet2)); |
||
3470 | mavlink_msg_named_value_float_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.name , packet1.value ); |
||
3471 | mavlink_msg_named_value_float_decode(&msg, &packet2); |
||
3472 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3473 | |||
3474 | memset(&packet2, 0, sizeof(packet2)); |
||
3475 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
3476 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
3477 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
3478 | } |
||
3479 | mavlink_msg_named_value_float_decode(last_msg, &packet2); |
||
3480 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3481 | |||
3482 | memset(&packet2, 0, sizeof(packet2)); |
||
3483 | mavlink_msg_named_value_float_send(MAVLINK_COMM_1 , packet1.name , packet1.value ); |
||
3484 | mavlink_msg_named_value_float_decode(last_msg, &packet2); |
||
3485 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3486 | } |
||
3487 | |||
3488 | static void mavlink_test_named_value_int(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
3489 | { |
||
3490 | mavlink_message_t msg; |
||
3491 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
3492 | uint16_t i; |
||
3493 | mavlink_named_value_int_t packet_in = { |
||
3494 | "ABCDEFGHI", |
||
3495 | 963497984, |
||
3496 | }; |
||
3497 | mavlink_named_value_int_t packet1, packet2; |
||
3498 | memset(&packet1, 0, sizeof(packet1)); |
||
3499 | packet1.value = packet_in.value; |
||
3500 | |||
3501 | mav_array_memcpy(packet1.name, packet_in.name, sizeof(char)*10); |
||
3502 | |||
3503 | |||
3504 | memset(&packet2, 0, sizeof(packet2)); |
||
3505 | mavlink_msg_named_value_int_encode(system_id, component_id, &msg, &packet1); |
||
3506 | mavlink_msg_named_value_int_decode(&msg, &packet2); |
||
3507 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3508 | |||
3509 | memset(&packet2, 0, sizeof(packet2)); |
||
3510 | mavlink_msg_named_value_int_pack(system_id, component_id, &msg , packet1.name , packet1.value ); |
||
3511 | mavlink_msg_named_value_int_decode(&msg, &packet2); |
||
3512 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3513 | |||
3514 | memset(&packet2, 0, sizeof(packet2)); |
||
3515 | mavlink_msg_named_value_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.name , packet1.value ); |
||
3516 | mavlink_msg_named_value_int_decode(&msg, &packet2); |
||
3517 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3518 | |||
3519 | memset(&packet2, 0, sizeof(packet2)); |
||
3520 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
3521 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
3522 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
3523 | } |
||
3524 | mavlink_msg_named_value_int_decode(last_msg, &packet2); |
||
3525 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3526 | |||
3527 | memset(&packet2, 0, sizeof(packet2)); |
||
3528 | mavlink_msg_named_value_int_send(MAVLINK_COMM_1 , packet1.name , packet1.value ); |
||
3529 | mavlink_msg_named_value_int_decode(last_msg, &packet2); |
||
3530 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3531 | } |
||
3532 | |||
3533 | static void mavlink_test_statustext(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
3534 | { |
||
3535 | mavlink_message_t msg; |
||
3536 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
3537 | uint16_t i; |
||
3538 | mavlink_statustext_t packet_in = { |
||
3539 | 5, |
||
3540 | { 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 }, |
||
3541 | }; |
||
3542 | mavlink_statustext_t packet1, packet2; |
||
3543 | memset(&packet1, 0, sizeof(packet1)); |
||
3544 | packet1.severity = packet_in.severity; |
||
3545 | |||
3546 | mav_array_memcpy(packet1.text, packet_in.text, sizeof(int8_t)*50); |
||
3547 | |||
3548 | |||
3549 | memset(&packet2, 0, sizeof(packet2)); |
||
3550 | mavlink_msg_statustext_encode(system_id, component_id, &msg, &packet1); |
||
3551 | mavlink_msg_statustext_decode(&msg, &packet2); |
||
3552 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3553 | |||
3554 | memset(&packet2, 0, sizeof(packet2)); |
||
3555 | mavlink_msg_statustext_pack(system_id, component_id, &msg , packet1.severity , packet1.text ); |
||
3556 | mavlink_msg_statustext_decode(&msg, &packet2); |
||
3557 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3558 | |||
3559 | memset(&packet2, 0, sizeof(packet2)); |
||
3560 | mavlink_msg_statustext_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.severity , packet1.text ); |
||
3561 | mavlink_msg_statustext_decode(&msg, &packet2); |
||
3562 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3563 | |||
3564 | memset(&packet2, 0, sizeof(packet2)); |
||
3565 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
3566 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
3567 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
3568 | } |
||
3569 | mavlink_msg_statustext_decode(last_msg, &packet2); |
||
3570 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3571 | |||
3572 | memset(&packet2, 0, sizeof(packet2)); |
||
3573 | mavlink_msg_statustext_send(MAVLINK_COMM_1 , packet1.severity , packet1.text ); |
||
3574 | mavlink_msg_statustext_decode(last_msg, &packet2); |
||
3575 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3576 | } |
||
3577 | |||
3578 | static void mavlink_test_debug(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
3579 | { |
||
3580 | mavlink_message_t msg; |
||
3581 | uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; |
||
3582 | uint16_t i; |
||
3583 | mavlink_debug_t packet_in = { |
||
3584 | 5, |
||
3585 | 24.0, |
||
3586 | }; |
||
3587 | mavlink_debug_t packet1, packet2; |
||
3588 | memset(&packet1, 0, sizeof(packet1)); |
||
3589 | packet1.ind = packet_in.ind; |
||
3590 | packet1.value = packet_in.value; |
||
3591 | |||
3592 | |||
3593 | |||
3594 | memset(&packet2, 0, sizeof(packet2)); |
||
3595 | mavlink_msg_debug_encode(system_id, component_id, &msg, &packet1); |
||
3596 | mavlink_msg_debug_decode(&msg, &packet2); |
||
3597 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3598 | |||
3599 | memset(&packet2, 0, sizeof(packet2)); |
||
3600 | mavlink_msg_debug_pack(system_id, component_id, &msg , packet1.ind , packet1.value ); |
||
3601 | mavlink_msg_debug_decode(&msg, &packet2); |
||
3602 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3603 | |||
3604 | memset(&packet2, 0, sizeof(packet2)); |
||
3605 | mavlink_msg_debug_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.ind , packet1.value ); |
||
3606 | mavlink_msg_debug_decode(&msg, &packet2); |
||
3607 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3608 | |||
3609 | memset(&packet2, 0, sizeof(packet2)); |
||
3610 | mavlink_msg_to_send_buffer(buffer, &msg); |
||
3611 | for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { |
||
3612 | comm_send_ch(MAVLINK_COMM_0, buffer[i]); |
||
3613 | } |
||
3614 | mavlink_msg_debug_decode(last_msg, &packet2); |
||
3615 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3616 | |||
3617 | memset(&packet2, 0, sizeof(packet2)); |
||
3618 | mavlink_msg_debug_send(MAVLINK_COMM_1 , packet1.ind , packet1.value ); |
||
3619 | mavlink_msg_debug_decode(last_msg, &packet2); |
||
3620 | MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); |
||
3621 | } |
||
3622 | |||
3623 | static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) |
||
3624 | { |
||
3625 | mavlink_test_heartbeat(system_id, component_id, last_msg); |
||
3626 | mavlink_test_boot(system_id, component_id, last_msg); |
||
3627 | mavlink_test_system_time(system_id, component_id, last_msg); |
||
3628 | mavlink_test_ping(system_id, component_id, last_msg); |
||
3629 | mavlink_test_system_time_utc(system_id, component_id, last_msg); |
||
3630 | mavlink_test_change_operator_control(system_id, component_id, last_msg); |
||
3631 | mavlink_test_change_operator_control_ack(system_id, component_id, last_msg); |
||
3632 | mavlink_test_auth_key(system_id, component_id, last_msg); |
||
3633 | mavlink_test_action_ack(system_id, component_id, last_msg); |
||
3634 | mavlink_test_action(system_id, component_id, last_msg); |
||
3635 | mavlink_test_set_mode(system_id, component_id, last_msg); |
||
3636 | mavlink_test_set_nav_mode(system_id, component_id, last_msg); |
||
3637 | mavlink_test_param_request_read(system_id, component_id, last_msg); |
||
3638 | mavlink_test_param_request_list(system_id, component_id, last_msg); |
||
3639 | mavlink_test_param_value(system_id, component_id, last_msg); |
||
3640 | mavlink_test_param_set(system_id, component_id, last_msg); |
||
3641 | mavlink_test_gps_raw_int(system_id, component_id, last_msg); |
||
3642 | mavlink_test_scaled_imu(system_id, component_id, last_msg); |
||
3643 | mavlink_test_gps_status(system_id, component_id, last_msg); |
||
3644 | mavlink_test_raw_imu(system_id, component_id, last_msg); |
||
3645 | mavlink_test_raw_pressure(system_id, component_id, last_msg); |
||
3646 | mavlink_test_scaled_pressure(system_id, component_id, last_msg); |
||
3647 | mavlink_test_attitude(system_id, component_id, last_msg); |
||
3648 | mavlink_test_local_position(system_id, component_id, last_msg); |
||
3649 | mavlink_test_global_position(system_id, component_id, last_msg); |
||
3650 | mavlink_test_gps_raw(system_id, component_id, last_msg); |
||
3651 | mavlink_test_sys_status(system_id, component_id, last_msg); |
||
3652 | mavlink_test_rc_channels_raw(system_id, component_id, last_msg); |
||
3653 | mavlink_test_rc_channels_scaled(system_id, component_id, last_msg); |
||
3654 | mavlink_test_servo_output_raw(system_id, component_id, last_msg); |
||
3655 | mavlink_test_waypoint(system_id, component_id, last_msg); |
||
3656 | mavlink_test_waypoint_request(system_id, component_id, last_msg); |
||
3657 | mavlink_test_waypoint_set_current(system_id, component_id, last_msg); |
||
3658 | mavlink_test_waypoint_current(system_id, component_id, last_msg); |
||
3659 | mavlink_test_waypoint_request_list(system_id, component_id, last_msg); |
||
3660 | mavlink_test_waypoint_count(system_id, component_id, last_msg); |
||
3661 | mavlink_test_waypoint_clear_all(system_id, component_id, last_msg); |
||
3662 | mavlink_test_waypoint_reached(system_id, component_id, last_msg); |
||
3663 | mavlink_test_waypoint_ack(system_id, component_id, last_msg); |
||
3664 | mavlink_test_gps_set_global_origin(system_id, component_id, last_msg); |
||
3665 | mavlink_test_gps_local_origin_set(system_id, component_id, last_msg); |
||
3666 | mavlink_test_local_position_setpoint_set(system_id, component_id, last_msg); |
||
3667 | mavlink_test_local_position_setpoint(system_id, component_id, last_msg); |
||
3668 | mavlink_test_control_status(system_id, component_id, last_msg); |
||
3669 | mavlink_test_safety_set_allowed_area(system_id, component_id, last_msg); |
||
3670 | mavlink_test_safety_allowed_area(system_id, component_id, last_msg); |
||
3671 | mavlink_test_set_roll_pitch_yaw_thrust(system_id, component_id, last_msg); |
||
3672 | mavlink_test_set_roll_pitch_yaw_speed_thrust(system_id, component_id, last_msg); |
||
3673 | mavlink_test_roll_pitch_yaw_thrust_setpoint(system_id, component_id, last_msg); |
||
3674 | mavlink_test_roll_pitch_yaw_speed_thrust_setpoint(system_id, component_id, last_msg); |
||
3675 | mavlink_test_nav_controller_output(system_id, component_id, last_msg); |
||
3676 | mavlink_test_position_target(system_id, component_id, last_msg); |
||
3677 | mavlink_test_state_correction(system_id, component_id, last_msg); |
||
3678 | mavlink_test_set_altitude(system_id, component_id, last_msg); |
||
3679 | mavlink_test_request_data_stream(system_id, component_id, last_msg); |
||
3680 | mavlink_test_hil_state(system_id, component_id, last_msg); |
||
3681 | mavlink_test_hil_controls(system_id, component_id, last_msg); |
||
3682 | mavlink_test_manual_control(system_id, component_id, last_msg); |
||
3683 | mavlink_test_rc_channels_override(system_id, component_id, last_msg); |
||
3684 | mavlink_test_global_position_int(system_id, component_id, last_msg); |
||
3685 | mavlink_test_vfr_hud(system_id, component_id, last_msg); |
||
3686 | mavlink_test_command(system_id, component_id, last_msg); |
||
3687 | mavlink_test_command_ack(system_id, component_id, last_msg); |
||
3688 | mavlink_test_optical_flow(system_id, component_id, last_msg); |
||
3689 | mavlink_test_object_detection_event(system_id, component_id, last_msg); |
||
3690 | mavlink_test_debug_vect(system_id, component_id, last_msg); |
||
3691 | mavlink_test_named_value_float(system_id, component_id, last_msg); |
||
3692 | mavlink_test_named_value_int(system_id, component_id, last_msg); |
||
3693 | mavlink_test_statustext(system_id, component_id, last_msg); |
||
3694 | mavlink_test_debug(system_id, component_id, last_msg); |
||
3695 | } |
||
3696 | |||
3697 | #ifdef __cplusplus |
||
3698 | } |
||
3699 | #endif // __cplusplus |
||
3700 | #endif // COMMON_TESTSUITE_H |