WebSVN - Projects - Blame - Rev 1702 - /C-OSD/arducam-osd/libraries/GCS_MAVLink/include/mavlink/v1.0/sensesoar/testsuite.h

Rev	Author	Line No.	Line
1702	-	1	/** @file
		2	* @brief MAVLink comm protocol testsuite generated from sensesoar.xml
		3	* @see http://qgroundcontrol.org/mavlink/
		4	*/
		5	#ifndef SENSESOAR_TESTSUITE_H
		6	#define SENSESOAR_TESTSUITE_H
		7
		8	#ifdef __cplusplus
		9	extern "C" {
		10	#endif
		11
		12	#ifndef MAVLINK_TEST_ALL
		13	#define MAVLINK_TEST_ALL
		14	static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg);
		15	static void mavlink_test_sensesoar(uint8_t, uint8_t, mavlink_message_t *last_msg);
		16
		17	static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
		18	{
		19	mavlink_test_common(system_id, component_id, last_msg);
		20	mavlink_test_sensesoar(system_id, component_id, last_msg);
		21	}
		22	#endif
		23
		24	#include "../common/testsuite.h"
		25
		26
		27	static void mavlink_test_obs_position(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
		28	{
		29	mavlink_message_t msg;
		30	uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
		31	uint16_t i;
		32	mavlink_obs_position_t packet_in = {
		33	963497464,
		34	963497672,
		35	963497880,
		36	};
		37	mavlink_obs_position_t packet1, packet2;
		38	memset(&packet1, 0, sizeof(packet1));
		39	packet1.lon = packet_in.lon;
		40	packet1.lat = packet_in.lat;
		41	packet1.alt = packet_in.alt;
		42
		43
		44
		45	memset(&packet2, 0, sizeof(packet2));
		46	mavlink_msg_obs_position_encode(system_id, component_id, &msg, &packet1);
		47	mavlink_msg_obs_position_decode(&msg, &packet2);
		48	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		49
		50	memset(&packet2, 0, sizeof(packet2));
		51	mavlink_msg_obs_position_pack(system_id, component_id, &msg , packet1.lon , packet1.lat , packet1.alt );
		52	mavlink_msg_obs_position_decode(&msg, &packet2);
		53	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		54
		55	memset(&packet2, 0, sizeof(packet2));
		56	mavlink_msg_obs_position_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.lon , packet1.lat , packet1.alt );
		57	mavlink_msg_obs_position_decode(&msg, &packet2);
		58	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		59
		60	memset(&packet2, 0, sizeof(packet2));
		61	mavlink_msg_to_send_buffer(buffer, &msg);
		62	for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
		63	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
		64	}
		65	mavlink_msg_obs_position_decode(last_msg, &packet2);
		66	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		67
		68	memset(&packet2, 0, sizeof(packet2));
		69	mavlink_msg_obs_position_send(MAVLINK_COMM_1 , packet1.lon , packet1.lat , packet1.alt );
		70	mavlink_msg_obs_position_decode(last_msg, &packet2);
		71	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		72	}
		73
		74	static void mavlink_test_obs_velocity(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
		75	{
		76	mavlink_message_t msg;
		77	uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
		78	uint16_t i;
		79	mavlink_obs_velocity_t packet_in = {
		80	{ 17.0, 18.0, 19.0 },
		81	};
		82	mavlink_obs_velocity_t packet1, packet2;
		83	memset(&packet1, 0, sizeof(packet1));
		84
		85	mav_array_memcpy(packet1.vel, packet_in.vel, sizeof(float)*3);
		86
		87
		88	memset(&packet2, 0, sizeof(packet2));
		89	mavlink_msg_obs_velocity_encode(system_id, component_id, &msg, &packet1);
		90	mavlink_msg_obs_velocity_decode(&msg, &packet2);
		91	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		92
		93	memset(&packet2, 0, sizeof(packet2));
		94	mavlink_msg_obs_velocity_pack(system_id, component_id, &msg , packet1.vel );
		95	mavlink_msg_obs_velocity_decode(&msg, &packet2);
		96	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		97
		98	memset(&packet2, 0, sizeof(packet2));
		99	mavlink_msg_obs_velocity_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.vel );
		100	mavlink_msg_obs_velocity_decode(&msg, &packet2);
		101	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		102
		103	memset(&packet2, 0, sizeof(packet2));
		104	mavlink_msg_to_send_buffer(buffer, &msg);
		105	for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
		106	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
		107	}
		108	mavlink_msg_obs_velocity_decode(last_msg, &packet2);
		109	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		110
		111	memset(&packet2, 0, sizeof(packet2));
		112	mavlink_msg_obs_velocity_send(MAVLINK_COMM_1 , packet1.vel );
		113	mavlink_msg_obs_velocity_decode(last_msg, &packet2);
		114	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		115	}
		116
		117	static void mavlink_test_obs_attitude(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
		118	{
		119	mavlink_message_t msg;
		120	uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
		121	uint16_t i;
		122	mavlink_obs_attitude_t packet_in = {
		123	{ 123.0, 124.0, 125.0, 126.0 },
		124	};
		125	mavlink_obs_attitude_t packet1, packet2;
		126	memset(&packet1, 0, sizeof(packet1));
		127
		128	mav_array_memcpy(packet1.quat, packet_in.quat, sizeof(double)*4);
		129
		130
		131	memset(&packet2, 0, sizeof(packet2));
		132	mavlink_msg_obs_attitude_encode(system_id, component_id, &msg, &packet1);
		133	mavlink_msg_obs_attitude_decode(&msg, &packet2);
		134	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		135
		136	memset(&packet2, 0, sizeof(packet2));
		137	mavlink_msg_obs_attitude_pack(system_id, component_id, &msg , packet1.quat );
		138	mavlink_msg_obs_attitude_decode(&msg, &packet2);
		139	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		140
		141	memset(&packet2, 0, sizeof(packet2));
		142	mavlink_msg_obs_attitude_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.quat );
		143	mavlink_msg_obs_attitude_decode(&msg, &packet2);
		144	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		145
		146	memset(&packet2, 0, sizeof(packet2));
		147	mavlink_msg_to_send_buffer(buffer, &msg);
		148	for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
		149	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
		150	}
		151	mavlink_msg_obs_attitude_decode(last_msg, &packet2);
		152	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		153
		154	memset(&packet2, 0, sizeof(packet2));
		155	mavlink_msg_obs_attitude_send(MAVLINK_COMM_1 , packet1.quat );
		156	mavlink_msg_obs_attitude_decode(last_msg, &packet2);
		157	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		158	}
		159
		160	static void mavlink_test_obs_wind(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
		161	{
		162	mavlink_message_t msg;
		163	uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
		164	uint16_t i;
		165	mavlink_obs_wind_t packet_in = {
		166	{ 17.0, 18.0, 19.0 },
		167	};
		168	mavlink_obs_wind_t packet1, packet2;
		169	memset(&packet1, 0, sizeof(packet1));
		170
		171	mav_array_memcpy(packet1.wind, packet_in.wind, sizeof(float)*3);
		172
		173
		174	memset(&packet2, 0, sizeof(packet2));
		175	mavlink_msg_obs_wind_encode(system_id, component_id, &msg, &packet1);
		176	mavlink_msg_obs_wind_decode(&msg, &packet2);
		177	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		178
		179	memset(&packet2, 0, sizeof(packet2));
		180	mavlink_msg_obs_wind_pack(system_id, component_id, &msg , packet1.wind );
		181	mavlink_msg_obs_wind_decode(&msg, &packet2);
		182	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		183
		184	memset(&packet2, 0, sizeof(packet2));
		185	mavlink_msg_obs_wind_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.wind );
		186	mavlink_msg_obs_wind_decode(&msg, &packet2);
		187	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		188
		189	memset(&packet2, 0, sizeof(packet2));
		190	mavlink_msg_to_send_buffer(buffer, &msg);
		191	for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
		192	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
		193	}
		194	mavlink_msg_obs_wind_decode(last_msg, &packet2);
		195	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		196
		197	memset(&packet2, 0, sizeof(packet2));
		198	mavlink_msg_obs_wind_send(MAVLINK_COMM_1 , packet1.wind );
		199	mavlink_msg_obs_wind_decode(last_msg, &packet2);
		200	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		201	}
		202
		203	static void mavlink_test_obs_air_velocity(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
		204	{
		205	mavlink_message_t msg;
		206	uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
		207	uint16_t i;
		208	mavlink_obs_air_velocity_t packet_in = {
		209	17.0,
		210	45.0,
		211	73.0,
		212	};
		213	mavlink_obs_air_velocity_t packet1, packet2;
		214	memset(&packet1, 0, sizeof(packet1));
		215	packet1.magnitude = packet_in.magnitude;
		216	packet1.aoa = packet_in.aoa;
		217	packet1.slip = packet_in.slip;
		218
		219
		220
		221	memset(&packet2, 0, sizeof(packet2));
		222	mavlink_msg_obs_air_velocity_encode(system_id, component_id, &msg, &packet1);
		223	mavlink_msg_obs_air_velocity_decode(&msg, &packet2);
		224	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		225
		226	memset(&packet2, 0, sizeof(packet2));
		227	mavlink_msg_obs_air_velocity_pack(system_id, component_id, &msg , packet1.magnitude , packet1.aoa , packet1.slip );
		228	mavlink_msg_obs_air_velocity_decode(&msg, &packet2);
		229	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		230
		231	memset(&packet2, 0, sizeof(packet2));
		232	mavlink_msg_obs_air_velocity_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.magnitude , packet1.aoa , packet1.slip );
		233	mavlink_msg_obs_air_velocity_decode(&msg, &packet2);
		234	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		235
		236	memset(&packet2, 0, sizeof(packet2));
		237	mavlink_msg_to_send_buffer(buffer, &msg);
		238	for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
		239	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
		240	}
		241	mavlink_msg_obs_air_velocity_decode(last_msg, &packet2);
		242	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		243
		244	memset(&packet2, 0, sizeof(packet2));
		245	mavlink_msg_obs_air_velocity_send(MAVLINK_COMM_1 , packet1.magnitude , packet1.aoa , packet1.slip );
		246	mavlink_msg_obs_air_velocity_decode(last_msg, &packet2);
		247	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		248	}
		249
		250	static void mavlink_test_obs_bias(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
		251	{
		252	mavlink_message_t msg;
		253	uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
		254	uint16_t i;
		255	mavlink_obs_bias_t packet_in = {
		256	{ 17.0, 18.0, 19.0 },
		257	{ 101.0, 102.0, 103.0 },
		258	};
		259	mavlink_obs_bias_t packet1, packet2;
		260	memset(&packet1, 0, sizeof(packet1));
		261
		262	mav_array_memcpy(packet1.accBias, packet_in.accBias, sizeof(float)*3);
		263	mav_array_memcpy(packet1.gyroBias, packet_in.gyroBias, sizeof(float)*3);
		264
		265
		266	memset(&packet2, 0, sizeof(packet2));
		267	mavlink_msg_obs_bias_encode(system_id, component_id, &msg, &packet1);
		268	mavlink_msg_obs_bias_decode(&msg, &packet2);
		269	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		270
		271	memset(&packet2, 0, sizeof(packet2));
		272	mavlink_msg_obs_bias_pack(system_id, component_id, &msg , packet1.accBias , packet1.gyroBias );
		273	mavlink_msg_obs_bias_decode(&msg, &packet2);
		274	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		275
		276	memset(&packet2, 0, sizeof(packet2));
		277	mavlink_msg_obs_bias_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.accBias , packet1.gyroBias );
		278	mavlink_msg_obs_bias_decode(&msg, &packet2);
		279	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		280
		281	memset(&packet2, 0, sizeof(packet2));
		282	mavlink_msg_to_send_buffer(buffer, &msg);
		283	for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
		284	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
		285	}
		286	mavlink_msg_obs_bias_decode(last_msg, &packet2);
		287	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		288
		289	memset(&packet2, 0, sizeof(packet2));
		290	mavlink_msg_obs_bias_send(MAVLINK_COMM_1 , packet1.accBias , packet1.gyroBias );
		291	mavlink_msg_obs_bias_decode(last_msg, &packet2);
		292	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		293	}
		294
		295	static void mavlink_test_obs_qff(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
		296	{
		297	mavlink_message_t msg;
		298	uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
		299	uint16_t i;
		300	mavlink_obs_qff_t packet_in = {
		301	17.0,
		302	};
		303	mavlink_obs_qff_t packet1, packet2;
		304	memset(&packet1, 0, sizeof(packet1));
		305	packet1.qff = packet_in.qff;
		306
		307
		308
		309	memset(&packet2, 0, sizeof(packet2));
		310	mavlink_msg_obs_qff_encode(system_id, component_id, &msg, &packet1);
		311	mavlink_msg_obs_qff_decode(&msg, &packet2);
		312	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		313
		314	memset(&packet2, 0, sizeof(packet2));
		315	mavlink_msg_obs_qff_pack(system_id, component_id, &msg , packet1.qff );
		316	mavlink_msg_obs_qff_decode(&msg, &packet2);
		317	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		318
		319	memset(&packet2, 0, sizeof(packet2));
		320	mavlink_msg_obs_qff_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.qff );
		321	mavlink_msg_obs_qff_decode(&msg, &packet2);
		322	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		323
		324	memset(&packet2, 0, sizeof(packet2));
		325	mavlink_msg_to_send_buffer(buffer, &msg);
		326	for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
		327	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
		328	}
		329	mavlink_msg_obs_qff_decode(last_msg, &packet2);
		330	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		331
		332	memset(&packet2, 0, sizeof(packet2));
		333	mavlink_msg_obs_qff_send(MAVLINK_COMM_1 , packet1.qff );
		334	mavlink_msg_obs_qff_decode(last_msg, &packet2);
		335	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		336	}
		337
		338	static void mavlink_test_obs_air_temp(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
		339	{
		340	mavlink_message_t msg;
		341	uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
		342	uint16_t i;
		343	mavlink_obs_air_temp_t packet_in = {
		344	17.0,
		345	};
		346	mavlink_obs_air_temp_t packet1, packet2;
		347	memset(&packet1, 0, sizeof(packet1));
		348	packet1.airT = packet_in.airT;
		349
		350
		351
		352	memset(&packet2, 0, sizeof(packet2));
		353	mavlink_msg_obs_air_temp_encode(system_id, component_id, &msg, &packet1);
		354	mavlink_msg_obs_air_temp_decode(&msg, &packet2);
		355	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		356
		357	memset(&packet2, 0, sizeof(packet2));
		358	mavlink_msg_obs_air_temp_pack(system_id, component_id, &msg , packet1.airT );
		359	mavlink_msg_obs_air_temp_decode(&msg, &packet2);
		360	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		361
		362	memset(&packet2, 0, sizeof(packet2));
		363	mavlink_msg_obs_air_temp_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.airT );
		364	mavlink_msg_obs_air_temp_decode(&msg, &packet2);
		365	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		366
		367	memset(&packet2, 0, sizeof(packet2));
		368	mavlink_msg_to_send_buffer(buffer, &msg);
		369	for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
		370	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
		371	}
		372	mavlink_msg_obs_air_temp_decode(last_msg, &packet2);
		373	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		374
		375	memset(&packet2, 0, sizeof(packet2));
		376	mavlink_msg_obs_air_temp_send(MAVLINK_COMM_1 , packet1.airT );
		377	mavlink_msg_obs_air_temp_decode(last_msg, &packet2);
		378	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		379	}
		380
		381	static void mavlink_test_filt_rot_vel(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
		382	{
		383	mavlink_message_t msg;
		384	uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
		385	uint16_t i;
		386	mavlink_filt_rot_vel_t packet_in = {
		387	{ 17.0, 18.0, 19.0 },
		388	};
		389	mavlink_filt_rot_vel_t packet1, packet2;
		390	memset(&packet1, 0, sizeof(packet1));
		391
		392	mav_array_memcpy(packet1.rotVel, packet_in.rotVel, sizeof(float)*3);
		393
		394
		395	memset(&packet2, 0, sizeof(packet2));
		396	mavlink_msg_filt_rot_vel_encode(system_id, component_id, &msg, &packet1);
		397	mavlink_msg_filt_rot_vel_decode(&msg, &packet2);
		398	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		399
		400	memset(&packet2, 0, sizeof(packet2));
		401	mavlink_msg_filt_rot_vel_pack(system_id, component_id, &msg , packet1.rotVel );
		402	mavlink_msg_filt_rot_vel_decode(&msg, &packet2);
		403	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		404
		405	memset(&packet2, 0, sizeof(packet2));
		406	mavlink_msg_filt_rot_vel_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.rotVel );
		407	mavlink_msg_filt_rot_vel_decode(&msg, &packet2);
		408	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		409
		410	memset(&packet2, 0, sizeof(packet2));
		411	mavlink_msg_to_send_buffer(buffer, &msg);
		412	for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
		413	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
		414	}
		415	mavlink_msg_filt_rot_vel_decode(last_msg, &packet2);
		416	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		417
		418	memset(&packet2, 0, sizeof(packet2));
		419	mavlink_msg_filt_rot_vel_send(MAVLINK_COMM_1 , packet1.rotVel );
		420	mavlink_msg_filt_rot_vel_decode(last_msg, &packet2);
		421	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		422	}
		423
		424	static void mavlink_test_llc_out(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
		425	{
		426	mavlink_message_t msg;
		427	uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
		428	uint16_t i;
		429	mavlink_llc_out_t packet_in = {
		430	{ 17235, 17236, 17237, 17238 },
		431	{ 17651, 17652 },
		432	};
		433	mavlink_llc_out_t packet1, packet2;
		434	memset(&packet1, 0, sizeof(packet1));
		435
		436	mav_array_memcpy(packet1.servoOut, packet_in.servoOut, sizeof(int16_t)*4);
		437	mav_array_memcpy(packet1.MotorOut, packet_in.MotorOut, sizeof(int16_t)*2);
		438
		439
		440	memset(&packet2, 0, sizeof(packet2));
		441	mavlink_msg_llc_out_encode(system_id, component_id, &msg, &packet1);
		442	mavlink_msg_llc_out_decode(&msg, &packet2);
		443	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		444
		445	memset(&packet2, 0, sizeof(packet2));
		446	mavlink_msg_llc_out_pack(system_id, component_id, &msg , packet1.servoOut , packet1.MotorOut );
		447	mavlink_msg_llc_out_decode(&msg, &packet2);
		448	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		449
		450	memset(&packet2, 0, sizeof(packet2));
		451	mavlink_msg_llc_out_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.servoOut , packet1.MotorOut );
		452	mavlink_msg_llc_out_decode(&msg, &packet2);
		453	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		454
		455	memset(&packet2, 0, sizeof(packet2));
		456	mavlink_msg_to_send_buffer(buffer, &msg);
		457	for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
		458	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
		459	}
		460	mavlink_msg_llc_out_decode(last_msg, &packet2);
		461	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		462
		463	memset(&packet2, 0, sizeof(packet2));
		464	mavlink_msg_llc_out_send(MAVLINK_COMM_1 , packet1.servoOut , packet1.MotorOut );
		465	mavlink_msg_llc_out_decode(last_msg, &packet2);
		466	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		467	}
		468
		469	static void mavlink_test_pm_elec(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
		470	{
		471	mavlink_message_t msg;
		472	uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
		473	uint16_t i;
		474	mavlink_pm_elec_t packet_in = {
		475	17.0,
		476	45.0,
		477	{ 73.0, 74.0, 75.0 },
		478	};
		479	mavlink_pm_elec_t packet1, packet2;
		480	memset(&packet1, 0, sizeof(packet1));
		481	packet1.PwCons = packet_in.PwCons;
		482	packet1.BatStat = packet_in.BatStat;
		483
		484	mav_array_memcpy(packet1.PwGen, packet_in.PwGen, sizeof(float)*3);
		485
		486
		487	memset(&packet2, 0, sizeof(packet2));
		488	mavlink_msg_pm_elec_encode(system_id, component_id, &msg, &packet1);
		489	mavlink_msg_pm_elec_decode(&msg, &packet2);
		490	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		491
		492	memset(&packet2, 0, sizeof(packet2));
		493	mavlink_msg_pm_elec_pack(system_id, component_id, &msg , packet1.PwCons , packet1.BatStat , packet1.PwGen );
		494	mavlink_msg_pm_elec_decode(&msg, &packet2);
		495	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		496
		497	memset(&packet2, 0, sizeof(packet2));
		498	mavlink_msg_pm_elec_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.PwCons , packet1.BatStat , packet1.PwGen );
		499	mavlink_msg_pm_elec_decode(&msg, &packet2);
		500	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		501
		502	memset(&packet2, 0, sizeof(packet2));
		503	mavlink_msg_to_send_buffer(buffer, &msg);
		504	for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
		505	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
		506	}
		507	mavlink_msg_pm_elec_decode(last_msg, &packet2);
		508	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		509
		510	memset(&packet2, 0, sizeof(packet2));
		511	mavlink_msg_pm_elec_send(MAVLINK_COMM_1 , packet1.PwCons , packet1.BatStat , packet1.PwGen );
		512	mavlink_msg_pm_elec_decode(last_msg, &packet2);
		513	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		514	}
		515
		516	static void mavlink_test_sys_stat(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
		517	{
		518	mavlink_message_t msg;
		519	uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
		520	uint16_t i;
		521	mavlink_sys_stat_t packet_in = {
		522	5,
		523	72,
		524	139,
		525	206,
		526	};
		527	mavlink_sys_stat_t packet1, packet2;
		528	memset(&packet1, 0, sizeof(packet1));
		529	packet1.gps = packet_in.gps;
		530	packet1.act = packet_in.act;
		531	packet1.mod = packet_in.mod;
		532	packet1.commRssi = packet_in.commRssi;
		533
		534
		535
		536	memset(&packet2, 0, sizeof(packet2));
		537	mavlink_msg_sys_stat_encode(system_id, component_id, &msg, &packet1);
		538	mavlink_msg_sys_stat_decode(&msg, &packet2);
		539	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		540
		541	memset(&packet2, 0, sizeof(packet2));
		542	mavlink_msg_sys_stat_pack(system_id, component_id, &msg , packet1.gps , packet1.act , packet1.mod , packet1.commRssi );
		543	mavlink_msg_sys_stat_decode(&msg, &packet2);
		544	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		545
		546	memset(&packet2, 0, sizeof(packet2));
		547	mavlink_msg_sys_stat_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.gps , packet1.act , packet1.mod , packet1.commRssi );
		548	mavlink_msg_sys_stat_decode(&msg, &packet2);
		549	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		550
		551	memset(&packet2, 0, sizeof(packet2));
		552	mavlink_msg_to_send_buffer(buffer, &msg);
		553	for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
		554	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
		555	}
		556	mavlink_msg_sys_stat_decode(last_msg, &packet2);
		557	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		558
		559	memset(&packet2, 0, sizeof(packet2));
		560	mavlink_msg_sys_stat_send(MAVLINK_COMM_1 , packet1.gps , packet1.act , packet1.mod , packet1.commRssi );
		561	mavlink_msg_sys_stat_decode(last_msg, &packet2);
		562	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		563	}
		564
		565	static void mavlink_test_cmd_airspeed_chng(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
		566	{
		567	mavlink_message_t msg;
		568	uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
		569	uint16_t i;
		570	mavlink_cmd_airspeed_chng_t packet_in = {
		571	17.0,
		572	17,
		573	};
		574	mavlink_cmd_airspeed_chng_t packet1, packet2;
		575	memset(&packet1, 0, sizeof(packet1));
		576	packet1.spCmd = packet_in.spCmd;
		577	packet1.target = packet_in.target;
		578
		579
		580
		581	memset(&packet2, 0, sizeof(packet2));
		582	mavlink_msg_cmd_airspeed_chng_encode(system_id, component_id, &msg, &packet1);
		583	mavlink_msg_cmd_airspeed_chng_decode(&msg, &packet2);
		584	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		585
		586	memset(&packet2, 0, sizeof(packet2));
		587	mavlink_msg_cmd_airspeed_chng_pack(system_id, component_id, &msg , packet1.target , packet1.spCmd );
		588	mavlink_msg_cmd_airspeed_chng_decode(&msg, &packet2);
		589	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		590
		591	memset(&packet2, 0, sizeof(packet2));
		592	mavlink_msg_cmd_airspeed_chng_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target , packet1.spCmd );
		593	mavlink_msg_cmd_airspeed_chng_decode(&msg, &packet2);
		594	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		595
		596	memset(&packet2, 0, sizeof(packet2));
		597	mavlink_msg_to_send_buffer(buffer, &msg);
		598	for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
		599	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
		600	}
		601	mavlink_msg_cmd_airspeed_chng_decode(last_msg, &packet2);
		602	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		603
		604	memset(&packet2, 0, sizeof(packet2));
		605	mavlink_msg_cmd_airspeed_chng_send(MAVLINK_COMM_1 , packet1.target , packet1.spCmd );
		606	mavlink_msg_cmd_airspeed_chng_decode(last_msg, &packet2);
		607	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		608	}
		609
		610	static void mavlink_test_cmd_airspeed_ack(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
		611	{
		612	mavlink_message_t msg;
		613	uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
		614	uint16_t i;
		615	mavlink_cmd_airspeed_ack_t packet_in = {
		616	17.0,
		617	17,
		618	};
		619	mavlink_cmd_airspeed_ack_t packet1, packet2;
		620	memset(&packet1, 0, sizeof(packet1));
		621	packet1.spCmd = packet_in.spCmd;
		622	packet1.ack = packet_in.ack;
		623
		624
		625
		626	memset(&packet2, 0, sizeof(packet2));
		627	mavlink_msg_cmd_airspeed_ack_encode(system_id, component_id, &msg, &packet1);
		628	mavlink_msg_cmd_airspeed_ack_decode(&msg, &packet2);
		629	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		630
		631	memset(&packet2, 0, sizeof(packet2));
		632	mavlink_msg_cmd_airspeed_ack_pack(system_id, component_id, &msg , packet1.spCmd , packet1.ack );
		633	mavlink_msg_cmd_airspeed_ack_decode(&msg, &packet2);
		634	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		635
		636	memset(&packet2, 0, sizeof(packet2));
		637	mavlink_msg_cmd_airspeed_ack_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.spCmd , packet1.ack );
		638	mavlink_msg_cmd_airspeed_ack_decode(&msg, &packet2);
		639	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		640
		641	memset(&packet2, 0, sizeof(packet2));
		642	mavlink_msg_to_send_buffer(buffer, &msg);
		643	for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
		644	comm_send_ch(MAVLINK_COMM_0, buffer[i]);
		645	}
		646	mavlink_msg_cmd_airspeed_ack_decode(last_msg, &packet2);
		647	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		648
		649	memset(&packet2, 0, sizeof(packet2));
		650	mavlink_msg_cmd_airspeed_ack_send(MAVLINK_COMM_1 , packet1.spCmd , packet1.ack );
		651	mavlink_msg_cmd_airspeed_ack_decode(last_msg, &packet2);
		652	MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
		653	}
		654
		655	static void mavlink_test_sensesoar(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
		656	{
		657	mavlink_test_obs_position(system_id, component_id, last_msg);
		658	mavlink_test_obs_velocity(system_id, component_id, last_msg);
		659	mavlink_test_obs_attitude(system_id, component_id, last_msg);
		660	mavlink_test_obs_wind(system_id, component_id, last_msg);
		661	mavlink_test_obs_air_velocity(system_id, component_id, last_msg);
		662	mavlink_test_obs_bias(system_id, component_id, last_msg);
		663	mavlink_test_obs_qff(system_id, component_id, last_msg);
		664	mavlink_test_obs_air_temp(system_id, component_id, last_msg);
		665	mavlink_test_filt_rot_vel(system_id, component_id, last_msg);
		666	mavlink_test_llc_out(system_id, component_id, last_msg);
		667	mavlink_test_pm_elec(system_id, component_id, last_msg);
		668	mavlink_test_sys_stat(system_id, component_id, last_msg);
		669	mavlink_test_cmd_airspeed_chng(system_id, component_id, last_msg);
		670	mavlink_test_cmd_airspeed_ack(system_id, component_id, last_msg);
		671	}
		672
		673	#ifdef __cplusplus
		674	}
		675	#endif // __cplusplus
		676	#endif // SENSESOAR_TESTSUITE_H

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(root)/C-OSD/arducam-osd/libraries/GCS_MAVLink/include/mavlink/v1.0/sensesoar/testsuite.h - Rev 1702