00001 00005 #ifndef COMMON_TESTSUITE_H 00006 #define COMMON_TESTSUITE_H 00007 00008 #ifdef __cplusplus 00009 extern "C" { 00010 #endif 00011 00012 #ifndef MAVLINK_TEST_ALL 00013 #define MAVLINK_TEST_ALL 00014 00015 static void mavlink_test_common(uint8_t, uint8_t, mavlink_message_t *last_msg); 00016 00017 static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 00018 { 00019 00020 mavlink_test_common(system_id, component_id, last_msg); 00021 } 00022 #endif 00023 00024 00025 00026 00027 static void mavlink_test_heartbeat(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 00028 { 00029 mavlink_message_t msg; 00030 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 00031 uint16_t i; 00032 mavlink_heartbeat_t packet_in = { 00033 963497464,17,84,151,218,3 00034 }; 00035 mavlink_heartbeat_t packet1, packet2; 00036 memset(&packet1, 0, sizeof(packet1)); 00037 packet1.custom_mode = packet_in.custom_mode; 00038 packet1.type = packet_in.type; 00039 packet1.autopilot = packet_in.autopilot; 00040 packet1.base_mode = packet_in.base_mode; 00041 packet1.system_status = packet_in.system_status; 00042 packet1.mavlink_version = packet_in.mavlink_version; 00043 00044 00045 00046 memset(&packet2, 0, sizeof(packet2)); 00047 mavlink_msg_heartbeat_encode(system_id, component_id, &msg, &packet1); 00048 mavlink_msg_heartbeat_decode(&msg, &packet2); 00049 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00050 00051 memset(&packet2, 0, sizeof(packet2)); 00052 mavlink_msg_heartbeat_pack(system_id, component_id, &msg , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status ); 00053 mavlink_msg_heartbeat_decode(&msg, &packet2); 00054 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00055 00056 memset(&packet2, 0, sizeof(packet2)); 00057 mavlink_msg_heartbeat_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status ); 00058 mavlink_msg_heartbeat_decode(&msg, &packet2); 00059 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00060 00061 memset(&packet2, 0, sizeof(packet2)); 00062 mavlink_msg_to_send_buffer(buffer, &msg); 00063 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 00064 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 00065 } 00066 mavlink_msg_heartbeat_decode(last_msg, &packet2); 00067 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00068 00069 memset(&packet2, 0, sizeof(packet2)); 00070 mavlink_msg_heartbeat_send(MAVLINK_COMM_1 , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status ); 00071 mavlink_msg_heartbeat_decode(last_msg, &packet2); 00072 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00073 } 00074 00075 static void mavlink_test_sys_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 00076 { 00077 mavlink_message_t msg; 00078 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 00079 uint16_t i; 00080 mavlink_sys_status_t packet_in = { 00081 963497464,963497672,963497880,17859,17963,18067,18171,18275,18379,18483,18587,18691,223 00082 }; 00083 mavlink_sys_status_t packet1, packet2; 00084 memset(&packet1, 0, sizeof(packet1)); 00085 packet1.onboard_control_sensors_present = packet_in.onboard_control_sensors_present; 00086 packet1.onboard_control_sensors_enabled = packet_in.onboard_control_sensors_enabled; 00087 packet1.onboard_control_sensors_health = packet_in.onboard_control_sensors_health; 00088 packet1.load = packet_in.load; 00089 packet1.voltage_battery = packet_in.voltage_battery; 00090 packet1.current_battery = packet_in.current_battery; 00091 packet1.drop_rate_comm = packet_in.drop_rate_comm; 00092 packet1.errors_comm = packet_in.errors_comm; 00093 packet1.errors_count1 = packet_in.errors_count1; 00094 packet1.errors_count2 = packet_in.errors_count2; 00095 packet1.errors_count3 = packet_in.errors_count3; 00096 packet1.errors_count4 = packet_in.errors_count4; 00097 packet1.battery_remaining = packet_in.battery_remaining; 00098 00099 00100 00101 memset(&packet2, 0, sizeof(packet2)); 00102 mavlink_msg_sys_status_encode(system_id, component_id, &msg, &packet1); 00103 mavlink_msg_sys_status_decode(&msg, &packet2); 00104 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00105 00106 memset(&packet2, 0, sizeof(packet2)); 00107 mavlink_msg_sys_status_pack(system_id, component_id, &msg , packet1.onboard_control_sensors_present , packet1.onboard_control_sensors_enabled , packet1.onboard_control_sensors_health , packet1.load , packet1.voltage_battery , packet1.current_battery , packet1.battery_remaining , packet1.drop_rate_comm , packet1.errors_comm , packet1.errors_count1 , packet1.errors_count2 , packet1.errors_count3 , packet1.errors_count4 ); 00108 mavlink_msg_sys_status_decode(&msg, &packet2); 00109 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00110 00111 memset(&packet2, 0, sizeof(packet2)); 00112 mavlink_msg_sys_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.onboard_control_sensors_present , packet1.onboard_control_sensors_enabled , packet1.onboard_control_sensors_health , packet1.load , packet1.voltage_battery , packet1.current_battery , packet1.battery_remaining , packet1.drop_rate_comm , packet1.errors_comm , packet1.errors_count1 , packet1.errors_count2 , packet1.errors_count3 , packet1.errors_count4 ); 00113 mavlink_msg_sys_status_decode(&msg, &packet2); 00114 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00115 00116 memset(&packet2, 0, sizeof(packet2)); 00117 mavlink_msg_to_send_buffer(buffer, &msg); 00118 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 00119 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 00120 } 00121 mavlink_msg_sys_status_decode(last_msg, &packet2); 00122 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00123 00124 memset(&packet2, 0, sizeof(packet2)); 00125 mavlink_msg_sys_status_send(MAVLINK_COMM_1 , packet1.onboard_control_sensors_present , packet1.onboard_control_sensors_enabled , packet1.onboard_control_sensors_health , packet1.load , packet1.voltage_battery , packet1.current_battery , packet1.battery_remaining , packet1.drop_rate_comm , packet1.errors_comm , packet1.errors_count1 , packet1.errors_count2 , packet1.errors_count3 , packet1.errors_count4 ); 00126 mavlink_msg_sys_status_decode(last_msg, &packet2); 00127 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00128 } 00129 00130 static void mavlink_test_system_time(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 00131 { 00132 mavlink_message_t msg; 00133 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 00134 uint16_t i; 00135 mavlink_system_time_t packet_in = { 00136 93372036854775807ULL,963497880 00137 }; 00138 mavlink_system_time_t packet1, packet2; 00139 memset(&packet1, 0, sizeof(packet1)); 00140 packet1.time_unix_usec = packet_in.time_unix_usec; 00141 packet1.time_boot_ms = packet_in.time_boot_ms; 00142 00143 00144 00145 memset(&packet2, 0, sizeof(packet2)); 00146 mavlink_msg_system_time_encode(system_id, component_id, &msg, &packet1); 00147 mavlink_msg_system_time_decode(&msg, &packet2); 00148 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00149 00150 memset(&packet2, 0, sizeof(packet2)); 00151 mavlink_msg_system_time_pack(system_id, component_id, &msg , packet1.time_unix_usec , packet1.time_boot_ms ); 00152 mavlink_msg_system_time_decode(&msg, &packet2); 00153 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00154 00155 memset(&packet2, 0, sizeof(packet2)); 00156 mavlink_msg_system_time_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_unix_usec , packet1.time_boot_ms ); 00157 mavlink_msg_system_time_decode(&msg, &packet2); 00158 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00159 00160 memset(&packet2, 0, sizeof(packet2)); 00161 mavlink_msg_to_send_buffer(buffer, &msg); 00162 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 00163 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 00164 } 00165 mavlink_msg_system_time_decode(last_msg, &packet2); 00166 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00167 00168 memset(&packet2, 0, sizeof(packet2)); 00169 mavlink_msg_system_time_send(MAVLINK_COMM_1 , packet1.time_unix_usec , packet1.time_boot_ms ); 00170 mavlink_msg_system_time_decode(last_msg, &packet2); 00171 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00172 } 00173 00174 static void mavlink_test_ping(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 00175 { 00176 mavlink_message_t msg; 00177 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 00178 uint16_t i; 00179 mavlink_ping_t packet_in = { 00180 93372036854775807ULL,963497880,41,108 00181 }; 00182 mavlink_ping_t packet1, packet2; 00183 memset(&packet1, 0, sizeof(packet1)); 00184 packet1.time_usec = packet_in.time_usec; 00185 packet1.seq = packet_in.seq; 00186 packet1.target_system = packet_in.target_system; 00187 packet1.target_component = packet_in.target_component; 00188 00189 00190 00191 memset(&packet2, 0, sizeof(packet2)); 00192 mavlink_msg_ping_encode(system_id, component_id, &msg, &packet1); 00193 mavlink_msg_ping_decode(&msg, &packet2); 00194 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00195 00196 memset(&packet2, 0, sizeof(packet2)); 00197 mavlink_msg_ping_pack(system_id, component_id, &msg , packet1.time_usec , packet1.seq , packet1.target_system , packet1.target_component ); 00198 mavlink_msg_ping_decode(&msg, &packet2); 00199 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00200 00201 memset(&packet2, 0, sizeof(packet2)); 00202 mavlink_msg_ping_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.seq , packet1.target_system , packet1.target_component ); 00203 mavlink_msg_ping_decode(&msg, &packet2); 00204 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00205 00206 memset(&packet2, 0, sizeof(packet2)); 00207 mavlink_msg_to_send_buffer(buffer, &msg); 00208 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 00209 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 00210 } 00211 mavlink_msg_ping_decode(last_msg, &packet2); 00212 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00213 00214 memset(&packet2, 0, sizeof(packet2)); 00215 mavlink_msg_ping_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.seq , packet1.target_system , packet1.target_component ); 00216 mavlink_msg_ping_decode(last_msg, &packet2); 00217 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00218 } 00219 00220 static void mavlink_test_change_operator_control(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 00221 { 00222 mavlink_message_t msg; 00223 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 00224 uint16_t i; 00225 mavlink_change_operator_control_t packet_in = { 00226 5,72,139,"DEFGHIJKLMNOPQRSTUVWXYZA" 00227 }; 00228 mavlink_change_operator_control_t packet1, packet2; 00229 memset(&packet1, 0, sizeof(packet1)); 00230 packet1.target_system = packet_in.target_system; 00231 packet1.control_request = packet_in.control_request; 00232 packet1.version = packet_in.version; 00233 00234 mav_array_memcpy(packet1.passkey, packet_in.passkey, sizeof(char)*25); 00235 00236 00237 memset(&packet2, 0, sizeof(packet2)); 00238 mavlink_msg_change_operator_control_encode(system_id, component_id, &msg, &packet1); 00239 mavlink_msg_change_operator_control_decode(&msg, &packet2); 00240 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00241 00242 memset(&packet2, 0, sizeof(packet2)); 00243 mavlink_msg_change_operator_control_pack(system_id, component_id, &msg , packet1.target_system , packet1.control_request , packet1.version , packet1.passkey ); 00244 mavlink_msg_change_operator_control_decode(&msg, &packet2); 00245 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00246 00247 memset(&packet2, 0, sizeof(packet2)); 00248 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 ); 00249 mavlink_msg_change_operator_control_decode(&msg, &packet2); 00250 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00251 00252 memset(&packet2, 0, sizeof(packet2)); 00253 mavlink_msg_to_send_buffer(buffer, &msg); 00254 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 00255 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 00256 } 00257 mavlink_msg_change_operator_control_decode(last_msg, &packet2); 00258 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00259 00260 memset(&packet2, 0, sizeof(packet2)); 00261 mavlink_msg_change_operator_control_send(MAVLINK_COMM_1 , packet1.target_system , packet1.control_request , packet1.version , packet1.passkey ); 00262 mavlink_msg_change_operator_control_decode(last_msg, &packet2); 00263 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00264 } 00265 00266 static void mavlink_test_change_operator_control_ack(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 00267 { 00268 mavlink_message_t msg; 00269 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 00270 uint16_t i; 00271 mavlink_change_operator_control_ack_t packet_in = { 00272 5,72,139 00273 }; 00274 mavlink_change_operator_control_ack_t packet1, packet2; 00275 memset(&packet1, 0, sizeof(packet1)); 00276 packet1.gcs_system_id = packet_in.gcs_system_id; 00277 packet1.control_request = packet_in.control_request; 00278 packet1.ack = packet_in.ack; 00279 00280 00281 00282 memset(&packet2, 0, sizeof(packet2)); 00283 mavlink_msg_change_operator_control_ack_encode(system_id, component_id, &msg, &packet1); 00284 mavlink_msg_change_operator_control_ack_decode(&msg, &packet2); 00285 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00286 00287 memset(&packet2, 0, sizeof(packet2)); 00288 mavlink_msg_change_operator_control_ack_pack(system_id, component_id, &msg , packet1.gcs_system_id , packet1.control_request , packet1.ack ); 00289 mavlink_msg_change_operator_control_ack_decode(&msg, &packet2); 00290 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00291 00292 memset(&packet2, 0, sizeof(packet2)); 00293 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 ); 00294 mavlink_msg_change_operator_control_ack_decode(&msg, &packet2); 00295 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00296 00297 memset(&packet2, 0, sizeof(packet2)); 00298 mavlink_msg_to_send_buffer(buffer, &msg); 00299 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 00300 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 00301 } 00302 mavlink_msg_change_operator_control_ack_decode(last_msg, &packet2); 00303 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00304 00305 memset(&packet2, 0, sizeof(packet2)); 00306 mavlink_msg_change_operator_control_ack_send(MAVLINK_COMM_1 , packet1.gcs_system_id , packet1.control_request , packet1.ack ); 00307 mavlink_msg_change_operator_control_ack_decode(last_msg, &packet2); 00308 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00309 } 00310 00311 static void mavlink_test_auth_key(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 00312 { 00313 mavlink_message_t msg; 00314 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 00315 uint16_t i; 00316 mavlink_auth_key_t packet_in = { 00317 "ABCDEFGHIJKLMNOPQRSTUVWXYZABCDE" 00318 }; 00319 mavlink_auth_key_t packet1, packet2; 00320 memset(&packet1, 0, sizeof(packet1)); 00321 00322 mav_array_memcpy(packet1.key, packet_in.key, sizeof(char)*32); 00323 00324 00325 memset(&packet2, 0, sizeof(packet2)); 00326 mavlink_msg_auth_key_encode(system_id, component_id, &msg, &packet1); 00327 mavlink_msg_auth_key_decode(&msg, &packet2); 00328 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00329 00330 memset(&packet2, 0, sizeof(packet2)); 00331 mavlink_msg_auth_key_pack(system_id, component_id, &msg , packet1.key ); 00332 mavlink_msg_auth_key_decode(&msg, &packet2); 00333 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00334 00335 memset(&packet2, 0, sizeof(packet2)); 00336 mavlink_msg_auth_key_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.key ); 00337 mavlink_msg_auth_key_decode(&msg, &packet2); 00338 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00339 00340 memset(&packet2, 0, sizeof(packet2)); 00341 mavlink_msg_to_send_buffer(buffer, &msg); 00342 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 00343 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 00344 } 00345 mavlink_msg_auth_key_decode(last_msg, &packet2); 00346 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00347 00348 memset(&packet2, 0, sizeof(packet2)); 00349 mavlink_msg_auth_key_send(MAVLINK_COMM_1 , packet1.key ); 00350 mavlink_msg_auth_key_decode(last_msg, &packet2); 00351 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00352 } 00353 00354 static void mavlink_test_set_mode(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 00355 { 00356 mavlink_message_t msg; 00357 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 00358 uint16_t i; 00359 mavlink_set_mode_t packet_in = { 00360 963497464,17,84 00361 }; 00362 mavlink_set_mode_t packet1, packet2; 00363 memset(&packet1, 0, sizeof(packet1)); 00364 packet1.custom_mode = packet_in.custom_mode; 00365 packet1.target_system = packet_in.target_system; 00366 packet1.base_mode = packet_in.base_mode; 00367 00368 00369 00370 memset(&packet2, 0, sizeof(packet2)); 00371 mavlink_msg_set_mode_encode(system_id, component_id, &msg, &packet1); 00372 mavlink_msg_set_mode_decode(&msg, &packet2); 00373 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00374 00375 memset(&packet2, 0, sizeof(packet2)); 00376 mavlink_msg_set_mode_pack(system_id, component_id, &msg , packet1.target_system , packet1.base_mode , packet1.custom_mode ); 00377 mavlink_msg_set_mode_decode(&msg, &packet2); 00378 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00379 00380 memset(&packet2, 0, sizeof(packet2)); 00381 mavlink_msg_set_mode_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.base_mode , packet1.custom_mode ); 00382 mavlink_msg_set_mode_decode(&msg, &packet2); 00383 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00384 00385 memset(&packet2, 0, sizeof(packet2)); 00386 mavlink_msg_to_send_buffer(buffer, &msg); 00387 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 00388 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 00389 } 00390 mavlink_msg_set_mode_decode(last_msg, &packet2); 00391 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00392 00393 memset(&packet2, 0, sizeof(packet2)); 00394 mavlink_msg_set_mode_send(MAVLINK_COMM_1 , packet1.target_system , packet1.base_mode , packet1.custom_mode ); 00395 mavlink_msg_set_mode_decode(last_msg, &packet2); 00396 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00397 } 00398 00399 static void mavlink_test_param_request_read(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 00400 { 00401 mavlink_message_t msg; 00402 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 00403 uint16_t i; 00404 mavlink_param_request_read_t packet_in = { 00405 17235,139,206,"EFGHIJKLMNOPQRS" 00406 }; 00407 mavlink_param_request_read_t packet1, packet2; 00408 memset(&packet1, 0, sizeof(packet1)); 00409 packet1.param_index = packet_in.param_index; 00410 packet1.target_system = packet_in.target_system; 00411 packet1.target_component = packet_in.target_component; 00412 00413 mav_array_memcpy(packet1.param_id, packet_in.param_id, sizeof(char)*16); 00414 00415 00416 memset(&packet2, 0, sizeof(packet2)); 00417 mavlink_msg_param_request_read_encode(system_id, component_id, &msg, &packet1); 00418 mavlink_msg_param_request_read_decode(&msg, &packet2); 00419 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00420 00421 memset(&packet2, 0, sizeof(packet2)); 00422 mavlink_msg_param_request_read_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_index ); 00423 mavlink_msg_param_request_read_decode(&msg, &packet2); 00424 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00425 00426 memset(&packet2, 0, sizeof(packet2)); 00427 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 ); 00428 mavlink_msg_param_request_read_decode(&msg, &packet2); 00429 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00430 00431 memset(&packet2, 0, sizeof(packet2)); 00432 mavlink_msg_to_send_buffer(buffer, &msg); 00433 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 00434 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 00435 } 00436 mavlink_msg_param_request_read_decode(last_msg, &packet2); 00437 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00438 00439 memset(&packet2, 0, sizeof(packet2)); 00440 mavlink_msg_param_request_read_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_index ); 00441 mavlink_msg_param_request_read_decode(last_msg, &packet2); 00442 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00443 } 00444 00445 static void mavlink_test_param_request_list(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 00446 { 00447 mavlink_message_t msg; 00448 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 00449 uint16_t i; 00450 mavlink_param_request_list_t packet_in = { 00451 5,72 00452 }; 00453 mavlink_param_request_list_t packet1, packet2; 00454 memset(&packet1, 0, sizeof(packet1)); 00455 packet1.target_system = packet_in.target_system; 00456 packet1.target_component = packet_in.target_component; 00457 00458 00459 00460 memset(&packet2, 0, sizeof(packet2)); 00461 mavlink_msg_param_request_list_encode(system_id, component_id, &msg, &packet1); 00462 mavlink_msg_param_request_list_decode(&msg, &packet2); 00463 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00464 00465 memset(&packet2, 0, sizeof(packet2)); 00466 mavlink_msg_param_request_list_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component ); 00467 mavlink_msg_param_request_list_decode(&msg, &packet2); 00468 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00469 00470 memset(&packet2, 0, sizeof(packet2)); 00471 mavlink_msg_param_request_list_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component ); 00472 mavlink_msg_param_request_list_decode(&msg, &packet2); 00473 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00474 00475 memset(&packet2, 0, sizeof(packet2)); 00476 mavlink_msg_to_send_buffer(buffer, &msg); 00477 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 00478 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 00479 } 00480 mavlink_msg_param_request_list_decode(last_msg, &packet2); 00481 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00482 00483 memset(&packet2, 0, sizeof(packet2)); 00484 mavlink_msg_param_request_list_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component ); 00485 mavlink_msg_param_request_list_decode(last_msg, &packet2); 00486 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00487 } 00488 00489 static void mavlink_test_param_value(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 00490 { 00491 mavlink_message_t msg; 00492 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 00493 uint16_t i; 00494 mavlink_param_value_t packet_in = { 00495 17.0,17443,17547,"IJKLMNOPQRSTUVW",77 00496 }; 00497 mavlink_param_value_t packet1, packet2; 00498 memset(&packet1, 0, sizeof(packet1)); 00499 packet1.param_value = packet_in.param_value; 00500 packet1.param_count = packet_in.param_count; 00501 packet1.param_index = packet_in.param_index; 00502 packet1.param_type = packet_in.param_type; 00503 00504 mav_array_memcpy(packet1.param_id, packet_in.param_id, sizeof(char)*16); 00505 00506 00507 memset(&packet2, 0, sizeof(packet2)); 00508 mavlink_msg_param_value_encode(system_id, component_id, &msg, &packet1); 00509 mavlink_msg_param_value_decode(&msg, &packet2); 00510 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00511 00512 memset(&packet2, 0, sizeof(packet2)); 00513 mavlink_msg_param_value_pack(system_id, component_id, &msg , packet1.param_id , packet1.param_value , packet1.param_type , packet1.param_count , packet1.param_index ); 00514 mavlink_msg_param_value_decode(&msg, &packet2); 00515 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00516 00517 memset(&packet2, 0, sizeof(packet2)); 00518 mavlink_msg_param_value_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.param_id , packet1.param_value , packet1.param_type , packet1.param_count , packet1.param_index ); 00519 mavlink_msg_param_value_decode(&msg, &packet2); 00520 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00521 00522 memset(&packet2, 0, sizeof(packet2)); 00523 mavlink_msg_to_send_buffer(buffer, &msg); 00524 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 00525 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 00526 } 00527 mavlink_msg_param_value_decode(last_msg, &packet2); 00528 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00529 00530 memset(&packet2, 0, sizeof(packet2)); 00531 mavlink_msg_param_value_send(MAVLINK_COMM_1 , packet1.param_id , packet1.param_value , packet1.param_type , packet1.param_count , packet1.param_index ); 00532 mavlink_msg_param_value_decode(last_msg, &packet2); 00533 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00534 } 00535 00536 static void mavlink_test_param_set(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 00537 { 00538 mavlink_message_t msg; 00539 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 00540 uint16_t i; 00541 mavlink_param_set_t packet_in = { 00542 17.0,17,84,"GHIJKLMNOPQRSTU",199 00543 }; 00544 mavlink_param_set_t packet1, packet2; 00545 memset(&packet1, 0, sizeof(packet1)); 00546 packet1.param_value = packet_in.param_value; 00547 packet1.target_system = packet_in.target_system; 00548 packet1.target_component = packet_in.target_component; 00549 packet1.param_type = packet_in.param_type; 00550 00551 mav_array_memcpy(packet1.param_id, packet_in.param_id, sizeof(char)*16); 00552 00553 00554 memset(&packet2, 0, sizeof(packet2)); 00555 mavlink_msg_param_set_encode(system_id, component_id, &msg, &packet1); 00556 mavlink_msg_param_set_decode(&msg, &packet2); 00557 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00558 00559 memset(&packet2, 0, sizeof(packet2)); 00560 mavlink_msg_param_set_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_value , packet1.param_type ); 00561 mavlink_msg_param_set_decode(&msg, &packet2); 00562 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00563 00564 memset(&packet2, 0, sizeof(packet2)); 00565 mavlink_msg_param_set_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_value , packet1.param_type ); 00566 mavlink_msg_param_set_decode(&msg, &packet2); 00567 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00568 00569 memset(&packet2, 0, sizeof(packet2)); 00570 mavlink_msg_to_send_buffer(buffer, &msg); 00571 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 00572 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 00573 } 00574 mavlink_msg_param_set_decode(last_msg, &packet2); 00575 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00576 00577 memset(&packet2, 0, sizeof(packet2)); 00578 mavlink_msg_param_set_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_value , packet1.param_type ); 00579 mavlink_msg_param_set_decode(last_msg, &packet2); 00580 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00581 } 00582 00583 static void mavlink_test_gps_raw_int(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 00584 { 00585 mavlink_message_t msg; 00586 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 00587 uint16_t i; 00588 mavlink_gps_raw_int_t packet_in = { 00589 93372036854775807ULL,963497880,963498088,963498296,18275,18379,18483,18587,89,156 00590 }; 00591 mavlink_gps_raw_int_t packet1, packet2; 00592 memset(&packet1, 0, sizeof(packet1)); 00593 packet1.time_usec = packet_in.time_usec; 00594 packet1.lat = packet_in.lat; 00595 packet1.lon = packet_in.lon; 00596 packet1.alt = packet_in.alt; 00597 packet1.eph = packet_in.eph; 00598 packet1.epv = packet_in.epv; 00599 packet1.vel = packet_in.vel; 00600 packet1.cog = packet_in.cog; 00601 packet1.fix_type = packet_in.fix_type; 00602 packet1.satellites_visible = packet_in.satellites_visible; 00603 00604 00605 00606 memset(&packet2, 0, sizeof(packet2)); 00607 mavlink_msg_gps_raw_int_encode(system_id, component_id, &msg, &packet1); 00608 mavlink_msg_gps_raw_int_decode(&msg, &packet2); 00609 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00610 00611 memset(&packet2, 0, sizeof(packet2)); 00612 mavlink_msg_gps_raw_int_pack(system_id, component_id, &msg , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.cog , packet1.satellites_visible ); 00613 mavlink_msg_gps_raw_int_decode(&msg, &packet2); 00614 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00615 00616 memset(&packet2, 0, sizeof(packet2)); 00617 mavlink_msg_gps_raw_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.cog , packet1.satellites_visible ); 00618 mavlink_msg_gps_raw_int_decode(&msg, &packet2); 00619 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00620 00621 memset(&packet2, 0, sizeof(packet2)); 00622 mavlink_msg_to_send_buffer(buffer, &msg); 00623 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 00624 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 00625 } 00626 mavlink_msg_gps_raw_int_decode(last_msg, &packet2); 00627 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00628 00629 memset(&packet2, 0, sizeof(packet2)); 00630 mavlink_msg_gps_raw_int_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.cog , packet1.satellites_visible ); 00631 mavlink_msg_gps_raw_int_decode(last_msg, &packet2); 00632 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00633 } 00634 00635 static void mavlink_test_gps_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 00636 { 00637 mavlink_message_t msg; 00638 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 00639 uint16_t i; 00640 mavlink_gps_status_t packet_in = { 00641 5,{ 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91 },{ 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151 },{ 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211 },{ 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15 },{ 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75 } 00642 }; 00643 mavlink_gps_status_t packet1, packet2; 00644 memset(&packet1, 0, sizeof(packet1)); 00645 packet1.satellites_visible = packet_in.satellites_visible; 00646 00647 mav_array_memcpy(packet1.satellite_prn, packet_in.satellite_prn, sizeof(uint8_t)*20); 00648 mav_array_memcpy(packet1.satellite_used, packet_in.satellite_used, sizeof(uint8_t)*20); 00649 mav_array_memcpy(packet1.satellite_elevation, packet_in.satellite_elevation, sizeof(uint8_t)*20); 00650 mav_array_memcpy(packet1.satellite_azimuth, packet_in.satellite_azimuth, sizeof(uint8_t)*20); 00651 mav_array_memcpy(packet1.satellite_snr, packet_in.satellite_snr, sizeof(uint8_t)*20); 00652 00653 00654 memset(&packet2, 0, sizeof(packet2)); 00655 mavlink_msg_gps_status_encode(system_id, component_id, &msg, &packet1); 00656 mavlink_msg_gps_status_decode(&msg, &packet2); 00657 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00658 00659 memset(&packet2, 0, sizeof(packet2)); 00660 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 ); 00661 mavlink_msg_gps_status_decode(&msg, &packet2); 00662 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00663 00664 memset(&packet2, 0, sizeof(packet2)); 00665 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 ); 00666 mavlink_msg_gps_status_decode(&msg, &packet2); 00667 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00668 00669 memset(&packet2, 0, sizeof(packet2)); 00670 mavlink_msg_to_send_buffer(buffer, &msg); 00671 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 00672 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 00673 } 00674 mavlink_msg_gps_status_decode(last_msg, &packet2); 00675 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00676 00677 memset(&packet2, 0, sizeof(packet2)); 00678 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 ); 00679 mavlink_msg_gps_status_decode(last_msg, &packet2); 00680 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00681 } 00682 00683 static void mavlink_test_scaled_imu(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 00684 { 00685 mavlink_message_t msg; 00686 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 00687 uint16_t i; 00688 mavlink_scaled_imu_t packet_in = { 00689 963497464,17443,17547,17651,17755,17859,17963,18067,18171,18275 00690 }; 00691 mavlink_scaled_imu_t packet1, packet2; 00692 memset(&packet1, 0, sizeof(packet1)); 00693 packet1.time_boot_ms = packet_in.time_boot_ms; 00694 packet1.xacc = packet_in.xacc; 00695 packet1.yacc = packet_in.yacc; 00696 packet1.zacc = packet_in.zacc; 00697 packet1.xgyro = packet_in.xgyro; 00698 packet1.ygyro = packet_in.ygyro; 00699 packet1.zgyro = packet_in.zgyro; 00700 packet1.xmag = packet_in.xmag; 00701 packet1.ymag = packet_in.ymag; 00702 packet1.zmag = packet_in.zmag; 00703 00704 00705 00706 memset(&packet2, 0, sizeof(packet2)); 00707 mavlink_msg_scaled_imu_encode(system_id, component_id, &msg, &packet1); 00708 mavlink_msg_scaled_imu_decode(&msg, &packet2); 00709 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00710 00711 memset(&packet2, 0, sizeof(packet2)); 00712 mavlink_msg_scaled_imu_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag ); 00713 mavlink_msg_scaled_imu_decode(&msg, &packet2); 00714 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00715 00716 memset(&packet2, 0, sizeof(packet2)); 00717 mavlink_msg_scaled_imu_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag ); 00718 mavlink_msg_scaled_imu_decode(&msg, &packet2); 00719 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00720 00721 memset(&packet2, 0, sizeof(packet2)); 00722 mavlink_msg_to_send_buffer(buffer, &msg); 00723 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 00724 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 00725 } 00726 mavlink_msg_scaled_imu_decode(last_msg, &packet2); 00727 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00728 00729 memset(&packet2, 0, sizeof(packet2)); 00730 mavlink_msg_scaled_imu_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag ); 00731 mavlink_msg_scaled_imu_decode(last_msg, &packet2); 00732 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00733 } 00734 00735 static void mavlink_test_raw_imu(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 00736 { 00737 mavlink_message_t msg; 00738 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 00739 uint16_t i; 00740 mavlink_raw_imu_t packet_in = { 00741 93372036854775807ULL,17651,17755,17859,17963,18067,18171,18275,18379,18483 00742 }; 00743 mavlink_raw_imu_t packet1, packet2; 00744 memset(&packet1, 0, sizeof(packet1)); 00745 packet1.time_usec = packet_in.time_usec; 00746 packet1.xacc = packet_in.xacc; 00747 packet1.yacc = packet_in.yacc; 00748 packet1.zacc = packet_in.zacc; 00749 packet1.xgyro = packet_in.xgyro; 00750 packet1.ygyro = packet_in.ygyro; 00751 packet1.zgyro = packet_in.zgyro; 00752 packet1.xmag = packet_in.xmag; 00753 packet1.ymag = packet_in.ymag; 00754 packet1.zmag = packet_in.zmag; 00755 00756 00757 00758 memset(&packet2, 0, sizeof(packet2)); 00759 mavlink_msg_raw_imu_encode(system_id, component_id, &msg, &packet1); 00760 mavlink_msg_raw_imu_decode(&msg, &packet2); 00761 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00762 00763 memset(&packet2, 0, sizeof(packet2)); 00764 mavlink_msg_raw_imu_pack(system_id, component_id, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag ); 00765 mavlink_msg_raw_imu_decode(&msg, &packet2); 00766 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00767 00768 memset(&packet2, 0, sizeof(packet2)); 00769 mavlink_msg_raw_imu_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag ); 00770 mavlink_msg_raw_imu_decode(&msg, &packet2); 00771 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00772 00773 memset(&packet2, 0, sizeof(packet2)); 00774 mavlink_msg_to_send_buffer(buffer, &msg); 00775 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 00776 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 00777 } 00778 mavlink_msg_raw_imu_decode(last_msg, &packet2); 00779 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00780 00781 memset(&packet2, 0, sizeof(packet2)); 00782 mavlink_msg_raw_imu_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag ); 00783 mavlink_msg_raw_imu_decode(last_msg, &packet2); 00784 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00785 } 00786 00787 static void mavlink_test_raw_pressure(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 00788 { 00789 mavlink_message_t msg; 00790 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 00791 uint16_t i; 00792 mavlink_raw_pressure_t packet_in = { 00793 93372036854775807ULL,17651,17755,17859,17963 00794 }; 00795 mavlink_raw_pressure_t packet1, packet2; 00796 memset(&packet1, 0, sizeof(packet1)); 00797 packet1.time_usec = packet_in.time_usec; 00798 packet1.press_abs = packet_in.press_abs; 00799 packet1.press_diff1 = packet_in.press_diff1; 00800 packet1.press_diff2 = packet_in.press_diff2; 00801 packet1.temperature = packet_in.temperature; 00802 00803 00804 00805 memset(&packet2, 0, sizeof(packet2)); 00806 mavlink_msg_raw_pressure_encode(system_id, component_id, &msg, &packet1); 00807 mavlink_msg_raw_pressure_decode(&msg, &packet2); 00808 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00809 00810 memset(&packet2, 0, sizeof(packet2)); 00811 mavlink_msg_raw_pressure_pack(system_id, component_id, &msg , packet1.time_usec , packet1.press_abs , packet1.press_diff1 , packet1.press_diff2 , packet1.temperature ); 00812 mavlink_msg_raw_pressure_decode(&msg, &packet2); 00813 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00814 00815 memset(&packet2, 0, sizeof(packet2)); 00816 mavlink_msg_raw_pressure_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.press_abs , packet1.press_diff1 , packet1.press_diff2 , packet1.temperature ); 00817 mavlink_msg_raw_pressure_decode(&msg, &packet2); 00818 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00819 00820 memset(&packet2, 0, sizeof(packet2)); 00821 mavlink_msg_to_send_buffer(buffer, &msg); 00822 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 00823 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 00824 } 00825 mavlink_msg_raw_pressure_decode(last_msg, &packet2); 00826 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00827 00828 memset(&packet2, 0, sizeof(packet2)); 00829 mavlink_msg_raw_pressure_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.press_abs , packet1.press_diff1 , packet1.press_diff2 , packet1.temperature ); 00830 mavlink_msg_raw_pressure_decode(last_msg, &packet2); 00831 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00832 } 00833 00834 static void mavlink_test_scaled_pressure(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 00835 { 00836 mavlink_message_t msg; 00837 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 00838 uint16_t i; 00839 mavlink_scaled_pressure_t packet_in = { 00840 963497464,45.0,73.0,17859 00841 }; 00842 mavlink_scaled_pressure_t packet1, packet2; 00843 memset(&packet1, 0, sizeof(packet1)); 00844 packet1.time_boot_ms = packet_in.time_boot_ms; 00845 packet1.press_abs = packet_in.press_abs; 00846 packet1.press_diff = packet_in.press_diff; 00847 packet1.temperature = packet_in.temperature; 00848 00849 00850 00851 memset(&packet2, 0, sizeof(packet2)); 00852 mavlink_msg_scaled_pressure_encode(system_id, component_id, &msg, &packet1); 00853 mavlink_msg_scaled_pressure_decode(&msg, &packet2); 00854 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00855 00856 memset(&packet2, 0, sizeof(packet2)); 00857 mavlink_msg_scaled_pressure_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.press_abs , packet1.press_diff , packet1.temperature ); 00858 mavlink_msg_scaled_pressure_decode(&msg, &packet2); 00859 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00860 00861 memset(&packet2, 0, sizeof(packet2)); 00862 mavlink_msg_scaled_pressure_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.press_abs , packet1.press_diff , packet1.temperature ); 00863 mavlink_msg_scaled_pressure_decode(&msg, &packet2); 00864 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00865 00866 memset(&packet2, 0, sizeof(packet2)); 00867 mavlink_msg_to_send_buffer(buffer, &msg); 00868 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 00869 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 00870 } 00871 mavlink_msg_scaled_pressure_decode(last_msg, &packet2); 00872 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00873 00874 memset(&packet2, 0, sizeof(packet2)); 00875 mavlink_msg_scaled_pressure_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.press_abs , packet1.press_diff , packet1.temperature ); 00876 mavlink_msg_scaled_pressure_decode(last_msg, &packet2); 00877 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00878 } 00879 00880 static void mavlink_test_attitude(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 00881 { 00882 mavlink_message_t msg; 00883 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 00884 uint16_t i; 00885 mavlink_attitude_t packet_in = { 00886 963497464,45.0,73.0,101.0,129.0,157.0,185.0 00887 }; 00888 mavlink_attitude_t packet1, packet2; 00889 memset(&packet1, 0, sizeof(packet1)); 00890 packet1.time_boot_ms = packet_in.time_boot_ms; 00891 packet1.roll = packet_in.roll; 00892 packet1.pitch = packet_in.pitch; 00893 packet1.yaw = packet_in.yaw; 00894 packet1.rollspeed = packet_in.rollspeed; 00895 packet1.pitchspeed = packet_in.pitchspeed; 00896 packet1.yawspeed = packet_in.yawspeed; 00897 00898 00899 00900 memset(&packet2, 0, sizeof(packet2)); 00901 mavlink_msg_attitude_encode(system_id, component_id, &msg, &packet1); 00902 mavlink_msg_attitude_decode(&msg, &packet2); 00903 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00904 00905 memset(&packet2, 0, sizeof(packet2)); 00906 mavlink_msg_attitude_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed ); 00907 mavlink_msg_attitude_decode(&msg, &packet2); 00908 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00909 00910 memset(&packet2, 0, sizeof(packet2)); 00911 mavlink_msg_attitude_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed ); 00912 mavlink_msg_attitude_decode(&msg, &packet2); 00913 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00914 00915 memset(&packet2, 0, sizeof(packet2)); 00916 mavlink_msg_to_send_buffer(buffer, &msg); 00917 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 00918 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 00919 } 00920 mavlink_msg_attitude_decode(last_msg, &packet2); 00921 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00922 00923 memset(&packet2, 0, sizeof(packet2)); 00924 mavlink_msg_attitude_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed ); 00925 mavlink_msg_attitude_decode(last_msg, &packet2); 00926 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00927 } 00928 00929 static void mavlink_test_attitude_quaternion(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 00930 { 00931 mavlink_message_t msg; 00932 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 00933 uint16_t i; 00934 mavlink_attitude_quaternion_t packet_in = { 00935 963497464,45.0,73.0,101.0,129.0,157.0,185.0,213.0 00936 }; 00937 mavlink_attitude_quaternion_t packet1, packet2; 00938 memset(&packet1, 0, sizeof(packet1)); 00939 packet1.time_boot_ms = packet_in.time_boot_ms; 00940 packet1.q1 = packet_in.q1; 00941 packet1.q2 = packet_in.q2; 00942 packet1.q3 = packet_in.q3; 00943 packet1.q4 = packet_in.q4; 00944 packet1.rollspeed = packet_in.rollspeed; 00945 packet1.pitchspeed = packet_in.pitchspeed; 00946 packet1.yawspeed = packet_in.yawspeed; 00947 00948 00949 00950 memset(&packet2, 0, sizeof(packet2)); 00951 mavlink_msg_attitude_quaternion_encode(system_id, component_id, &msg, &packet1); 00952 mavlink_msg_attitude_quaternion_decode(&msg, &packet2); 00953 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00954 00955 memset(&packet2, 0, sizeof(packet2)); 00956 mavlink_msg_attitude_quaternion_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.q1 , packet1.q2 , packet1.q3 , packet1.q4 , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed ); 00957 mavlink_msg_attitude_quaternion_decode(&msg, &packet2); 00958 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00959 00960 memset(&packet2, 0, sizeof(packet2)); 00961 mavlink_msg_attitude_quaternion_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.q1 , packet1.q2 , packet1.q3 , packet1.q4 , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed ); 00962 mavlink_msg_attitude_quaternion_decode(&msg, &packet2); 00963 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00964 00965 memset(&packet2, 0, sizeof(packet2)); 00966 mavlink_msg_to_send_buffer(buffer, &msg); 00967 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 00968 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 00969 } 00970 mavlink_msg_attitude_quaternion_decode(last_msg, &packet2); 00971 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00972 00973 memset(&packet2, 0, sizeof(packet2)); 00974 mavlink_msg_attitude_quaternion_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.q1 , packet1.q2 , packet1.q3 , packet1.q4 , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed ); 00975 mavlink_msg_attitude_quaternion_decode(last_msg, &packet2); 00976 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 00977 } 00978 00979 static void mavlink_test_local_position_ned(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 00980 { 00981 mavlink_message_t msg; 00982 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 00983 uint16_t i; 00984 mavlink_local_position_ned_t packet_in = { 00985 963497464,45.0,73.0,101.0,129.0,157.0,185.0 00986 }; 00987 mavlink_local_position_ned_t packet1, packet2; 00988 memset(&packet1, 0, sizeof(packet1)); 00989 packet1.time_boot_ms = packet_in.time_boot_ms; 00990 packet1.x = packet_in.x; 00991 packet1.y = packet_in.y; 00992 packet1.z = packet_in.z; 00993 packet1.vx = packet_in.vx; 00994 packet1.vy = packet_in.vy; 00995 packet1.vz = packet_in.vz; 00996 00997 00998 00999 memset(&packet2, 0, sizeof(packet2)); 01000 mavlink_msg_local_position_ned_encode(system_id, component_id, &msg, &packet1); 01001 mavlink_msg_local_position_ned_decode(&msg, &packet2); 01002 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01003 01004 memset(&packet2, 0, sizeof(packet2)); 01005 mavlink_msg_local_position_ned_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz ); 01006 mavlink_msg_local_position_ned_decode(&msg, &packet2); 01007 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01008 01009 memset(&packet2, 0, sizeof(packet2)); 01010 mavlink_msg_local_position_ned_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz ); 01011 mavlink_msg_local_position_ned_decode(&msg, &packet2); 01012 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01013 01014 memset(&packet2, 0, sizeof(packet2)); 01015 mavlink_msg_to_send_buffer(buffer, &msg); 01016 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 01017 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 01018 } 01019 mavlink_msg_local_position_ned_decode(last_msg, &packet2); 01020 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01021 01022 memset(&packet2, 0, sizeof(packet2)); 01023 mavlink_msg_local_position_ned_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz ); 01024 mavlink_msg_local_position_ned_decode(last_msg, &packet2); 01025 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01026 } 01027 01028 static void mavlink_test_global_position_int(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 01029 { 01030 mavlink_message_t msg; 01031 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 01032 uint16_t i; 01033 mavlink_global_position_int_t packet_in = { 01034 963497464,963497672,963497880,963498088,963498296,18275,18379,18483,18587 01035 }; 01036 mavlink_global_position_int_t packet1, packet2; 01037 memset(&packet1, 0, sizeof(packet1)); 01038 packet1.time_boot_ms = packet_in.time_boot_ms; 01039 packet1.lat = packet_in.lat; 01040 packet1.lon = packet_in.lon; 01041 packet1.alt = packet_in.alt; 01042 packet1.relative_alt = packet_in.relative_alt; 01043 packet1.vx = packet_in.vx; 01044 packet1.vy = packet_in.vy; 01045 packet1.vz = packet_in.vz; 01046 packet1.hdg = packet_in.hdg; 01047 01048 01049 01050 memset(&packet2, 0, sizeof(packet2)); 01051 mavlink_msg_global_position_int_encode(system_id, component_id, &msg, &packet1); 01052 mavlink_msg_global_position_int_decode(&msg, &packet2); 01053 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01054 01055 memset(&packet2, 0, sizeof(packet2)); 01056 mavlink_msg_global_position_int_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.lat , packet1.lon , packet1.alt , packet1.relative_alt , packet1.vx , packet1.vy , packet1.vz , packet1.hdg ); 01057 mavlink_msg_global_position_int_decode(&msg, &packet2); 01058 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01059 01060 memset(&packet2, 0, sizeof(packet2)); 01061 mavlink_msg_global_position_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.lat , packet1.lon , packet1.alt , packet1.relative_alt , packet1.vx , packet1.vy , packet1.vz , packet1.hdg ); 01062 mavlink_msg_global_position_int_decode(&msg, &packet2); 01063 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01064 01065 memset(&packet2, 0, sizeof(packet2)); 01066 mavlink_msg_to_send_buffer(buffer, &msg); 01067 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 01068 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 01069 } 01070 mavlink_msg_global_position_int_decode(last_msg, &packet2); 01071 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01072 01073 memset(&packet2, 0, sizeof(packet2)); 01074 mavlink_msg_global_position_int_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.lat , packet1.lon , packet1.alt , packet1.relative_alt , packet1.vx , packet1.vy , packet1.vz , packet1.hdg ); 01075 mavlink_msg_global_position_int_decode(last_msg, &packet2); 01076 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01077 } 01078 01079 static void mavlink_test_rc_channels_scaled(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 01080 { 01081 mavlink_message_t msg; 01082 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 01083 uint16_t i; 01084 mavlink_rc_channels_scaled_t packet_in = { 01085 963497464,17443,17547,17651,17755,17859,17963,18067,18171,65,132 01086 }; 01087 mavlink_rc_channels_scaled_t packet1, packet2; 01088 memset(&packet1, 0, sizeof(packet1)); 01089 packet1.time_boot_ms = packet_in.time_boot_ms; 01090 packet1.chan1_scaled = packet_in.chan1_scaled; 01091 packet1.chan2_scaled = packet_in.chan2_scaled; 01092 packet1.chan3_scaled = packet_in.chan3_scaled; 01093 packet1.chan4_scaled = packet_in.chan4_scaled; 01094 packet1.chan5_scaled = packet_in.chan5_scaled; 01095 packet1.chan6_scaled = packet_in.chan6_scaled; 01096 packet1.chan7_scaled = packet_in.chan7_scaled; 01097 packet1.chan8_scaled = packet_in.chan8_scaled; 01098 packet1.port = packet_in.port; 01099 packet1.rssi = packet_in.rssi; 01100 01101 01102 01103 memset(&packet2, 0, sizeof(packet2)); 01104 mavlink_msg_rc_channels_scaled_encode(system_id, component_id, &msg, &packet1); 01105 mavlink_msg_rc_channels_scaled_decode(&msg, &packet2); 01106 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01107 01108 memset(&packet2, 0, sizeof(packet2)); 01109 mavlink_msg_rc_channels_scaled_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.port , packet1.chan1_scaled , packet1.chan2_scaled , packet1.chan3_scaled , packet1.chan4_scaled , packet1.chan5_scaled , packet1.chan6_scaled , packet1.chan7_scaled , packet1.chan8_scaled , packet1.rssi ); 01110 mavlink_msg_rc_channels_scaled_decode(&msg, &packet2); 01111 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01112 01113 memset(&packet2, 0, sizeof(packet2)); 01114 mavlink_msg_rc_channels_scaled_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.port , packet1.chan1_scaled , packet1.chan2_scaled , packet1.chan3_scaled , packet1.chan4_scaled , packet1.chan5_scaled , packet1.chan6_scaled , packet1.chan7_scaled , packet1.chan8_scaled , packet1.rssi ); 01115 mavlink_msg_rc_channels_scaled_decode(&msg, &packet2); 01116 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01117 01118 memset(&packet2, 0, sizeof(packet2)); 01119 mavlink_msg_to_send_buffer(buffer, &msg); 01120 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 01121 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 01122 } 01123 mavlink_msg_rc_channels_scaled_decode(last_msg, &packet2); 01124 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01125 01126 memset(&packet2, 0, sizeof(packet2)); 01127 mavlink_msg_rc_channels_scaled_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.port , packet1.chan1_scaled , packet1.chan2_scaled , packet1.chan3_scaled , packet1.chan4_scaled , packet1.chan5_scaled , packet1.chan6_scaled , packet1.chan7_scaled , packet1.chan8_scaled , packet1.rssi ); 01128 mavlink_msg_rc_channels_scaled_decode(last_msg, &packet2); 01129 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01130 } 01131 01132 static void mavlink_test_rc_channels_raw(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 01133 { 01134 mavlink_message_t msg; 01135 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 01136 uint16_t i; 01137 mavlink_rc_channels_raw_t packet_in = { 01138 963497464,17443,17547,17651,17755,17859,17963,18067,18171,65,132 01139 }; 01140 mavlink_rc_channels_raw_t packet1, packet2; 01141 memset(&packet1, 0, sizeof(packet1)); 01142 packet1.time_boot_ms = packet_in.time_boot_ms; 01143 packet1.chan1_raw = packet_in.chan1_raw; 01144 packet1.chan2_raw = packet_in.chan2_raw; 01145 packet1.chan3_raw = packet_in.chan3_raw; 01146 packet1.chan4_raw = packet_in.chan4_raw; 01147 packet1.chan5_raw = packet_in.chan5_raw; 01148 packet1.chan6_raw = packet_in.chan6_raw; 01149 packet1.chan7_raw = packet_in.chan7_raw; 01150 packet1.chan8_raw = packet_in.chan8_raw; 01151 packet1.port = packet_in.port; 01152 packet1.rssi = packet_in.rssi; 01153 01154 01155 01156 memset(&packet2, 0, sizeof(packet2)); 01157 mavlink_msg_rc_channels_raw_encode(system_id, component_id, &msg, &packet1); 01158 mavlink_msg_rc_channels_raw_decode(&msg, &packet2); 01159 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01160 01161 memset(&packet2, 0, sizeof(packet2)); 01162 mavlink_msg_rc_channels_raw_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.port , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.rssi ); 01163 mavlink_msg_rc_channels_raw_decode(&msg, &packet2); 01164 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01165 01166 memset(&packet2, 0, sizeof(packet2)); 01167 mavlink_msg_rc_channels_raw_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.port , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.rssi ); 01168 mavlink_msg_rc_channels_raw_decode(&msg, &packet2); 01169 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01170 01171 memset(&packet2, 0, sizeof(packet2)); 01172 mavlink_msg_to_send_buffer(buffer, &msg); 01173 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 01174 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 01175 } 01176 mavlink_msg_rc_channels_raw_decode(last_msg, &packet2); 01177 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01178 01179 memset(&packet2, 0, sizeof(packet2)); 01180 mavlink_msg_rc_channels_raw_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.port , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.rssi ); 01181 mavlink_msg_rc_channels_raw_decode(last_msg, &packet2); 01182 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01183 } 01184 01185 static void mavlink_test_servo_output_raw(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 01186 { 01187 mavlink_message_t msg; 01188 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 01189 uint16_t i; 01190 mavlink_servo_output_raw_t packet_in = { 01191 963497464,17443,17547,17651,17755,17859,17963,18067,18171,65 01192 }; 01193 mavlink_servo_output_raw_t packet1, packet2; 01194 memset(&packet1, 0, sizeof(packet1)); 01195 packet1.time_usec = packet_in.time_usec; 01196 packet1.servo1_raw = packet_in.servo1_raw; 01197 packet1.servo2_raw = packet_in.servo2_raw; 01198 packet1.servo3_raw = packet_in.servo3_raw; 01199 packet1.servo4_raw = packet_in.servo4_raw; 01200 packet1.servo5_raw = packet_in.servo5_raw; 01201 packet1.servo6_raw = packet_in.servo6_raw; 01202 packet1.servo7_raw = packet_in.servo7_raw; 01203 packet1.servo8_raw = packet_in.servo8_raw; 01204 packet1.port = packet_in.port; 01205 01206 01207 01208 memset(&packet2, 0, sizeof(packet2)); 01209 mavlink_msg_servo_output_raw_encode(system_id, component_id, &msg, &packet1); 01210 mavlink_msg_servo_output_raw_decode(&msg, &packet2); 01211 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01212 01213 memset(&packet2, 0, sizeof(packet2)); 01214 mavlink_msg_servo_output_raw_pack(system_id, component_id, &msg , packet1.time_usec , packet1.port , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw ); 01215 mavlink_msg_servo_output_raw_decode(&msg, &packet2); 01216 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01217 01218 memset(&packet2, 0, sizeof(packet2)); 01219 mavlink_msg_servo_output_raw_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.port , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw ); 01220 mavlink_msg_servo_output_raw_decode(&msg, &packet2); 01221 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01222 01223 memset(&packet2, 0, sizeof(packet2)); 01224 mavlink_msg_to_send_buffer(buffer, &msg); 01225 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 01226 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 01227 } 01228 mavlink_msg_servo_output_raw_decode(last_msg, &packet2); 01229 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01230 01231 memset(&packet2, 0, sizeof(packet2)); 01232 mavlink_msg_servo_output_raw_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.port , packet1.servo1_raw , packet1.servo2_raw , packet1.servo3_raw , packet1.servo4_raw , packet1.servo5_raw , packet1.servo6_raw , packet1.servo7_raw , packet1.servo8_raw ); 01233 mavlink_msg_servo_output_raw_decode(last_msg, &packet2); 01234 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01235 } 01236 01237 static void mavlink_test_mission_request_partial_list(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 01238 { 01239 mavlink_message_t msg; 01240 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 01241 uint16_t i; 01242 mavlink_mission_request_partial_list_t packet_in = { 01243 17235,17339,17,84 01244 }; 01245 mavlink_mission_request_partial_list_t packet1, packet2; 01246 memset(&packet1, 0, sizeof(packet1)); 01247 packet1.start_index = packet_in.start_index; 01248 packet1.end_index = packet_in.end_index; 01249 packet1.target_system = packet_in.target_system; 01250 packet1.target_component = packet_in.target_component; 01251 01252 01253 01254 memset(&packet2, 0, sizeof(packet2)); 01255 mavlink_msg_mission_request_partial_list_encode(system_id, component_id, &msg, &packet1); 01256 mavlink_msg_mission_request_partial_list_decode(&msg, &packet2); 01257 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01258 01259 memset(&packet2, 0, sizeof(packet2)); 01260 mavlink_msg_mission_request_partial_list_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.start_index , packet1.end_index ); 01261 mavlink_msg_mission_request_partial_list_decode(&msg, &packet2); 01262 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01263 01264 memset(&packet2, 0, sizeof(packet2)); 01265 mavlink_msg_mission_request_partial_list_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.start_index , packet1.end_index ); 01266 mavlink_msg_mission_request_partial_list_decode(&msg, &packet2); 01267 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01268 01269 memset(&packet2, 0, sizeof(packet2)); 01270 mavlink_msg_to_send_buffer(buffer, &msg); 01271 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 01272 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 01273 } 01274 mavlink_msg_mission_request_partial_list_decode(last_msg, &packet2); 01275 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01276 01277 memset(&packet2, 0, sizeof(packet2)); 01278 mavlink_msg_mission_request_partial_list_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.start_index , packet1.end_index ); 01279 mavlink_msg_mission_request_partial_list_decode(last_msg, &packet2); 01280 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01281 } 01282 01283 static void mavlink_test_mission_write_partial_list(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 01284 { 01285 mavlink_message_t msg; 01286 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 01287 uint16_t i; 01288 mavlink_mission_write_partial_list_t packet_in = { 01289 17235,17339,17,84 01290 }; 01291 mavlink_mission_write_partial_list_t packet1, packet2; 01292 memset(&packet1, 0, sizeof(packet1)); 01293 packet1.start_index = packet_in.start_index; 01294 packet1.end_index = packet_in.end_index; 01295 packet1.target_system = packet_in.target_system; 01296 packet1.target_component = packet_in.target_component; 01297 01298 01299 01300 memset(&packet2, 0, sizeof(packet2)); 01301 mavlink_msg_mission_write_partial_list_encode(system_id, component_id, &msg, &packet1); 01302 mavlink_msg_mission_write_partial_list_decode(&msg, &packet2); 01303 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01304 01305 memset(&packet2, 0, sizeof(packet2)); 01306 mavlink_msg_mission_write_partial_list_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.start_index , packet1.end_index ); 01307 mavlink_msg_mission_write_partial_list_decode(&msg, &packet2); 01308 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01309 01310 memset(&packet2, 0, sizeof(packet2)); 01311 mavlink_msg_mission_write_partial_list_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.start_index , packet1.end_index ); 01312 mavlink_msg_mission_write_partial_list_decode(&msg, &packet2); 01313 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01314 01315 memset(&packet2, 0, sizeof(packet2)); 01316 mavlink_msg_to_send_buffer(buffer, &msg); 01317 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 01318 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 01319 } 01320 mavlink_msg_mission_write_partial_list_decode(last_msg, &packet2); 01321 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01322 01323 memset(&packet2, 0, sizeof(packet2)); 01324 mavlink_msg_mission_write_partial_list_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.start_index , packet1.end_index ); 01325 mavlink_msg_mission_write_partial_list_decode(last_msg, &packet2); 01326 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01327 } 01328 01329 static void mavlink_test_mission_item(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 01330 { 01331 mavlink_message_t msg; 01332 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 01333 uint16_t i; 01334 mavlink_mission_item_t packet_in = { 01335 17.0,45.0,73.0,101.0,129.0,157.0,185.0,18691,18795,101,168,235,46,113 01336 }; 01337 mavlink_mission_item_t packet1, packet2; 01338 memset(&packet1, 0, sizeof(packet1)); 01339 packet1.param1 = packet_in.param1; 01340 packet1.param2 = packet_in.param2; 01341 packet1.param3 = packet_in.param3; 01342 packet1.param4 = packet_in.param4; 01343 packet1.x = packet_in.x; 01344 packet1.y = packet_in.y; 01345 packet1.z = packet_in.z; 01346 packet1.seq = packet_in.seq; 01347 packet1.command = packet_in.command; 01348 packet1.target_system = packet_in.target_system; 01349 packet1.target_component = packet_in.target_component; 01350 packet1.frame = packet_in.frame; 01351 packet1.current = packet_in.current; 01352 packet1.autocontinue = packet_in.autocontinue; 01353 01354 01355 01356 memset(&packet2, 0, sizeof(packet2)); 01357 mavlink_msg_mission_item_encode(system_id, component_id, &msg, &packet1); 01358 mavlink_msg_mission_item_decode(&msg, &packet2); 01359 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01360 01361 memset(&packet2, 0, sizeof(packet2)); 01362 mavlink_msg_mission_item_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.seq , packet1.frame , packet1.command , packet1.current , packet1.autocontinue , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.x , packet1.y , packet1.z ); 01363 mavlink_msg_mission_item_decode(&msg, &packet2); 01364 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01365 01366 memset(&packet2, 0, sizeof(packet2)); 01367 mavlink_msg_mission_item_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.seq , packet1.frame , packet1.command , packet1.current , packet1.autocontinue , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.x , packet1.y , packet1.z ); 01368 mavlink_msg_mission_item_decode(&msg, &packet2); 01369 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01370 01371 memset(&packet2, 0, sizeof(packet2)); 01372 mavlink_msg_to_send_buffer(buffer, &msg); 01373 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 01374 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 01375 } 01376 mavlink_msg_mission_item_decode(last_msg, &packet2); 01377 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01378 01379 memset(&packet2, 0, sizeof(packet2)); 01380 mavlink_msg_mission_item_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.seq , packet1.frame , packet1.command , packet1.current , packet1.autocontinue , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.x , packet1.y , packet1.z ); 01381 mavlink_msg_mission_item_decode(last_msg, &packet2); 01382 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01383 } 01384 01385 static void mavlink_test_mission_request(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 01386 { 01387 mavlink_message_t msg; 01388 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 01389 uint16_t i; 01390 mavlink_mission_request_t packet_in = { 01391 17235,139,206 01392 }; 01393 mavlink_mission_request_t packet1, packet2; 01394 memset(&packet1, 0, sizeof(packet1)); 01395 packet1.seq = packet_in.seq; 01396 packet1.target_system = packet_in.target_system; 01397 packet1.target_component = packet_in.target_component; 01398 01399 01400 01401 memset(&packet2, 0, sizeof(packet2)); 01402 mavlink_msg_mission_request_encode(system_id, component_id, &msg, &packet1); 01403 mavlink_msg_mission_request_decode(&msg, &packet2); 01404 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01405 01406 memset(&packet2, 0, sizeof(packet2)); 01407 mavlink_msg_mission_request_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.seq ); 01408 mavlink_msg_mission_request_decode(&msg, &packet2); 01409 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01410 01411 memset(&packet2, 0, sizeof(packet2)); 01412 mavlink_msg_mission_request_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.seq ); 01413 mavlink_msg_mission_request_decode(&msg, &packet2); 01414 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01415 01416 memset(&packet2, 0, sizeof(packet2)); 01417 mavlink_msg_to_send_buffer(buffer, &msg); 01418 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 01419 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 01420 } 01421 mavlink_msg_mission_request_decode(last_msg, &packet2); 01422 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01423 01424 memset(&packet2, 0, sizeof(packet2)); 01425 mavlink_msg_mission_request_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.seq ); 01426 mavlink_msg_mission_request_decode(last_msg, &packet2); 01427 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01428 } 01429 01430 static void mavlink_test_mission_set_current(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 01431 { 01432 mavlink_message_t msg; 01433 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 01434 uint16_t i; 01435 mavlink_mission_set_current_t packet_in = { 01436 17235,139,206 01437 }; 01438 mavlink_mission_set_current_t packet1, packet2; 01439 memset(&packet1, 0, sizeof(packet1)); 01440 packet1.seq = packet_in.seq; 01441 packet1.target_system = packet_in.target_system; 01442 packet1.target_component = packet_in.target_component; 01443 01444 01445 01446 memset(&packet2, 0, sizeof(packet2)); 01447 mavlink_msg_mission_set_current_encode(system_id, component_id, &msg, &packet1); 01448 mavlink_msg_mission_set_current_decode(&msg, &packet2); 01449 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01450 01451 memset(&packet2, 0, sizeof(packet2)); 01452 mavlink_msg_mission_set_current_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.seq ); 01453 mavlink_msg_mission_set_current_decode(&msg, &packet2); 01454 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01455 01456 memset(&packet2, 0, sizeof(packet2)); 01457 mavlink_msg_mission_set_current_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.seq ); 01458 mavlink_msg_mission_set_current_decode(&msg, &packet2); 01459 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01460 01461 memset(&packet2, 0, sizeof(packet2)); 01462 mavlink_msg_to_send_buffer(buffer, &msg); 01463 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 01464 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 01465 } 01466 mavlink_msg_mission_set_current_decode(last_msg, &packet2); 01467 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01468 01469 memset(&packet2, 0, sizeof(packet2)); 01470 mavlink_msg_mission_set_current_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.seq ); 01471 mavlink_msg_mission_set_current_decode(last_msg, &packet2); 01472 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01473 } 01474 01475 static void mavlink_test_mission_current(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 01476 { 01477 mavlink_message_t msg; 01478 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 01479 uint16_t i; 01480 mavlink_mission_current_t packet_in = { 01481 17235 01482 }; 01483 mavlink_mission_current_t packet1, packet2; 01484 memset(&packet1, 0, sizeof(packet1)); 01485 packet1.seq = packet_in.seq; 01486 01487 01488 01489 memset(&packet2, 0, sizeof(packet2)); 01490 mavlink_msg_mission_current_encode(system_id, component_id, &msg, &packet1); 01491 mavlink_msg_mission_current_decode(&msg, &packet2); 01492 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01493 01494 memset(&packet2, 0, sizeof(packet2)); 01495 mavlink_msg_mission_current_pack(system_id, component_id, &msg , packet1.seq ); 01496 mavlink_msg_mission_current_decode(&msg, &packet2); 01497 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01498 01499 memset(&packet2, 0, sizeof(packet2)); 01500 mavlink_msg_mission_current_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.seq ); 01501 mavlink_msg_mission_current_decode(&msg, &packet2); 01502 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01503 01504 memset(&packet2, 0, sizeof(packet2)); 01505 mavlink_msg_to_send_buffer(buffer, &msg); 01506 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 01507 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 01508 } 01509 mavlink_msg_mission_current_decode(last_msg, &packet2); 01510 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01511 01512 memset(&packet2, 0, sizeof(packet2)); 01513 mavlink_msg_mission_current_send(MAVLINK_COMM_1 , packet1.seq ); 01514 mavlink_msg_mission_current_decode(last_msg, &packet2); 01515 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01516 } 01517 01518 static void mavlink_test_mission_request_list(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 01519 { 01520 mavlink_message_t msg; 01521 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 01522 uint16_t i; 01523 mavlink_mission_request_list_t packet_in = { 01524 5,72 01525 }; 01526 mavlink_mission_request_list_t packet1, packet2; 01527 memset(&packet1, 0, sizeof(packet1)); 01528 packet1.target_system = packet_in.target_system; 01529 packet1.target_component = packet_in.target_component; 01530 01531 01532 01533 memset(&packet2, 0, sizeof(packet2)); 01534 mavlink_msg_mission_request_list_encode(system_id, component_id, &msg, &packet1); 01535 mavlink_msg_mission_request_list_decode(&msg, &packet2); 01536 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01537 01538 memset(&packet2, 0, sizeof(packet2)); 01539 mavlink_msg_mission_request_list_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component ); 01540 mavlink_msg_mission_request_list_decode(&msg, &packet2); 01541 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01542 01543 memset(&packet2, 0, sizeof(packet2)); 01544 mavlink_msg_mission_request_list_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component ); 01545 mavlink_msg_mission_request_list_decode(&msg, &packet2); 01546 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01547 01548 memset(&packet2, 0, sizeof(packet2)); 01549 mavlink_msg_to_send_buffer(buffer, &msg); 01550 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 01551 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 01552 } 01553 mavlink_msg_mission_request_list_decode(last_msg, &packet2); 01554 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01555 01556 memset(&packet2, 0, sizeof(packet2)); 01557 mavlink_msg_mission_request_list_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component ); 01558 mavlink_msg_mission_request_list_decode(last_msg, &packet2); 01559 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01560 } 01561 01562 static void mavlink_test_mission_count(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 01563 { 01564 mavlink_message_t msg; 01565 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 01566 uint16_t i; 01567 mavlink_mission_count_t packet_in = { 01568 17235,139,206 01569 }; 01570 mavlink_mission_count_t packet1, packet2; 01571 memset(&packet1, 0, sizeof(packet1)); 01572 packet1.count = packet_in.count; 01573 packet1.target_system = packet_in.target_system; 01574 packet1.target_component = packet_in.target_component; 01575 01576 01577 01578 memset(&packet2, 0, sizeof(packet2)); 01579 mavlink_msg_mission_count_encode(system_id, component_id, &msg, &packet1); 01580 mavlink_msg_mission_count_decode(&msg, &packet2); 01581 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01582 01583 memset(&packet2, 0, sizeof(packet2)); 01584 mavlink_msg_mission_count_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.count ); 01585 mavlink_msg_mission_count_decode(&msg, &packet2); 01586 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01587 01588 memset(&packet2, 0, sizeof(packet2)); 01589 mavlink_msg_mission_count_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.count ); 01590 mavlink_msg_mission_count_decode(&msg, &packet2); 01591 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01592 01593 memset(&packet2, 0, sizeof(packet2)); 01594 mavlink_msg_to_send_buffer(buffer, &msg); 01595 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 01596 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 01597 } 01598 mavlink_msg_mission_count_decode(last_msg, &packet2); 01599 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01600 01601 memset(&packet2, 0, sizeof(packet2)); 01602 mavlink_msg_mission_count_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.count ); 01603 mavlink_msg_mission_count_decode(last_msg, &packet2); 01604 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01605 } 01606 01607 static void mavlink_test_mission_clear_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 01608 { 01609 mavlink_message_t msg; 01610 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 01611 uint16_t i; 01612 mavlink_mission_clear_all_t packet_in = { 01613 5,72 01614 }; 01615 mavlink_mission_clear_all_t packet1, packet2; 01616 memset(&packet1, 0, sizeof(packet1)); 01617 packet1.target_system = packet_in.target_system; 01618 packet1.target_component = packet_in.target_component; 01619 01620 01621 01622 memset(&packet2, 0, sizeof(packet2)); 01623 mavlink_msg_mission_clear_all_encode(system_id, component_id, &msg, &packet1); 01624 mavlink_msg_mission_clear_all_decode(&msg, &packet2); 01625 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01626 01627 memset(&packet2, 0, sizeof(packet2)); 01628 mavlink_msg_mission_clear_all_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component ); 01629 mavlink_msg_mission_clear_all_decode(&msg, &packet2); 01630 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01631 01632 memset(&packet2, 0, sizeof(packet2)); 01633 mavlink_msg_mission_clear_all_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component ); 01634 mavlink_msg_mission_clear_all_decode(&msg, &packet2); 01635 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01636 01637 memset(&packet2, 0, sizeof(packet2)); 01638 mavlink_msg_to_send_buffer(buffer, &msg); 01639 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 01640 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 01641 } 01642 mavlink_msg_mission_clear_all_decode(last_msg, &packet2); 01643 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01644 01645 memset(&packet2, 0, sizeof(packet2)); 01646 mavlink_msg_mission_clear_all_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component ); 01647 mavlink_msg_mission_clear_all_decode(last_msg, &packet2); 01648 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01649 } 01650 01651 static void mavlink_test_mission_item_reached(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 01652 { 01653 mavlink_message_t msg; 01654 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 01655 uint16_t i; 01656 mavlink_mission_item_reached_t packet_in = { 01657 17235 01658 }; 01659 mavlink_mission_item_reached_t packet1, packet2; 01660 memset(&packet1, 0, sizeof(packet1)); 01661 packet1.seq = packet_in.seq; 01662 01663 01664 01665 memset(&packet2, 0, sizeof(packet2)); 01666 mavlink_msg_mission_item_reached_encode(system_id, component_id, &msg, &packet1); 01667 mavlink_msg_mission_item_reached_decode(&msg, &packet2); 01668 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01669 01670 memset(&packet2, 0, sizeof(packet2)); 01671 mavlink_msg_mission_item_reached_pack(system_id, component_id, &msg , packet1.seq ); 01672 mavlink_msg_mission_item_reached_decode(&msg, &packet2); 01673 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01674 01675 memset(&packet2, 0, sizeof(packet2)); 01676 mavlink_msg_mission_item_reached_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.seq ); 01677 mavlink_msg_mission_item_reached_decode(&msg, &packet2); 01678 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01679 01680 memset(&packet2, 0, sizeof(packet2)); 01681 mavlink_msg_to_send_buffer(buffer, &msg); 01682 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 01683 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 01684 } 01685 mavlink_msg_mission_item_reached_decode(last_msg, &packet2); 01686 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01687 01688 memset(&packet2, 0, sizeof(packet2)); 01689 mavlink_msg_mission_item_reached_send(MAVLINK_COMM_1 , packet1.seq ); 01690 mavlink_msg_mission_item_reached_decode(last_msg, &packet2); 01691 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01692 } 01693 01694 static void mavlink_test_mission_ack(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 01695 { 01696 mavlink_message_t msg; 01697 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 01698 uint16_t i; 01699 mavlink_mission_ack_t packet_in = { 01700 5,72,139 01701 }; 01702 mavlink_mission_ack_t packet1, packet2; 01703 memset(&packet1, 0, sizeof(packet1)); 01704 packet1.target_system = packet_in.target_system; 01705 packet1.target_component = packet_in.target_component; 01706 packet1.type = packet_in.type; 01707 01708 01709 01710 memset(&packet2, 0, sizeof(packet2)); 01711 mavlink_msg_mission_ack_encode(system_id, component_id, &msg, &packet1); 01712 mavlink_msg_mission_ack_decode(&msg, &packet2); 01713 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01714 01715 memset(&packet2, 0, sizeof(packet2)); 01716 mavlink_msg_mission_ack_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.type ); 01717 mavlink_msg_mission_ack_decode(&msg, &packet2); 01718 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01719 01720 memset(&packet2, 0, sizeof(packet2)); 01721 mavlink_msg_mission_ack_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.type ); 01722 mavlink_msg_mission_ack_decode(&msg, &packet2); 01723 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01724 01725 memset(&packet2, 0, sizeof(packet2)); 01726 mavlink_msg_to_send_buffer(buffer, &msg); 01727 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 01728 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 01729 } 01730 mavlink_msg_mission_ack_decode(last_msg, &packet2); 01731 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01732 01733 memset(&packet2, 0, sizeof(packet2)); 01734 mavlink_msg_mission_ack_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.type ); 01735 mavlink_msg_mission_ack_decode(last_msg, &packet2); 01736 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01737 } 01738 01739 static void mavlink_test_set_gps_global_origin(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 01740 { 01741 mavlink_message_t msg; 01742 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 01743 uint16_t i; 01744 mavlink_set_gps_global_origin_t packet_in = { 01745 963497464,963497672,963497880,41 01746 }; 01747 mavlink_set_gps_global_origin_t packet1, packet2; 01748 memset(&packet1, 0, sizeof(packet1)); 01749 packet1.latitude = packet_in.latitude; 01750 packet1.longitude = packet_in.longitude; 01751 packet1.altitude = packet_in.altitude; 01752 packet1.target_system = packet_in.target_system; 01753 01754 01755 01756 memset(&packet2, 0, sizeof(packet2)); 01757 mavlink_msg_set_gps_global_origin_encode(system_id, component_id, &msg, &packet1); 01758 mavlink_msg_set_gps_global_origin_decode(&msg, &packet2); 01759 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01760 01761 memset(&packet2, 0, sizeof(packet2)); 01762 mavlink_msg_set_gps_global_origin_pack(system_id, component_id, &msg , packet1.target_system , packet1.latitude , packet1.longitude , packet1.altitude ); 01763 mavlink_msg_set_gps_global_origin_decode(&msg, &packet2); 01764 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01765 01766 memset(&packet2, 0, sizeof(packet2)); 01767 mavlink_msg_set_gps_global_origin_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.latitude , packet1.longitude , packet1.altitude ); 01768 mavlink_msg_set_gps_global_origin_decode(&msg, &packet2); 01769 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01770 01771 memset(&packet2, 0, sizeof(packet2)); 01772 mavlink_msg_to_send_buffer(buffer, &msg); 01773 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 01774 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 01775 } 01776 mavlink_msg_set_gps_global_origin_decode(last_msg, &packet2); 01777 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01778 01779 memset(&packet2, 0, sizeof(packet2)); 01780 mavlink_msg_set_gps_global_origin_send(MAVLINK_COMM_1 , packet1.target_system , packet1.latitude , packet1.longitude , packet1.altitude ); 01781 mavlink_msg_set_gps_global_origin_decode(last_msg, &packet2); 01782 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01783 } 01784 01785 static void mavlink_test_gps_global_origin(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 01786 { 01787 mavlink_message_t msg; 01788 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 01789 uint16_t i; 01790 mavlink_gps_global_origin_t packet_in = { 01791 963497464,963497672,963497880 01792 }; 01793 mavlink_gps_global_origin_t packet1, packet2; 01794 memset(&packet1, 0, sizeof(packet1)); 01795 packet1.latitude = packet_in.latitude; 01796 packet1.longitude = packet_in.longitude; 01797 packet1.altitude = packet_in.altitude; 01798 01799 01800 01801 memset(&packet2, 0, sizeof(packet2)); 01802 mavlink_msg_gps_global_origin_encode(system_id, component_id, &msg, &packet1); 01803 mavlink_msg_gps_global_origin_decode(&msg, &packet2); 01804 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01805 01806 memset(&packet2, 0, sizeof(packet2)); 01807 mavlink_msg_gps_global_origin_pack(system_id, component_id, &msg , packet1.latitude , packet1.longitude , packet1.altitude ); 01808 mavlink_msg_gps_global_origin_decode(&msg, &packet2); 01809 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01810 01811 memset(&packet2, 0, sizeof(packet2)); 01812 mavlink_msg_gps_global_origin_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.latitude , packet1.longitude , packet1.altitude ); 01813 mavlink_msg_gps_global_origin_decode(&msg, &packet2); 01814 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01815 01816 memset(&packet2, 0, sizeof(packet2)); 01817 mavlink_msg_to_send_buffer(buffer, &msg); 01818 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 01819 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 01820 } 01821 mavlink_msg_gps_global_origin_decode(last_msg, &packet2); 01822 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01823 01824 memset(&packet2, 0, sizeof(packet2)); 01825 mavlink_msg_gps_global_origin_send(MAVLINK_COMM_1 , packet1.latitude , packet1.longitude , packet1.altitude ); 01826 mavlink_msg_gps_global_origin_decode(last_msg, &packet2); 01827 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01828 } 01829 01830 static void mavlink_test_param_map_rc(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 01831 { 01832 mavlink_message_t msg; 01833 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 01834 uint16_t i; 01835 mavlink_param_map_rc_t packet_in = { 01836 17.0,45.0,73.0,101.0,18067,187,254,"UVWXYZABCDEFGHI",113 01837 }; 01838 mavlink_param_map_rc_t packet1, packet2; 01839 memset(&packet1, 0, sizeof(packet1)); 01840 packet1.param_value0 = packet_in.param_value0; 01841 packet1.scale = packet_in.scale; 01842 packet1.param_value_min = packet_in.param_value_min; 01843 packet1.param_value_max = packet_in.param_value_max; 01844 packet1.param_index = packet_in.param_index; 01845 packet1.target_system = packet_in.target_system; 01846 packet1.target_component = packet_in.target_component; 01847 packet1.parameter_rc_channel_index = packet_in.parameter_rc_channel_index; 01848 01849 mav_array_memcpy(packet1.param_id, packet_in.param_id, sizeof(char)*16); 01850 01851 01852 memset(&packet2, 0, sizeof(packet2)); 01853 mavlink_msg_param_map_rc_encode(system_id, component_id, &msg, &packet1); 01854 mavlink_msg_param_map_rc_decode(&msg, &packet2); 01855 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01856 01857 memset(&packet2, 0, sizeof(packet2)); 01858 mavlink_msg_param_map_rc_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_index , packet1.parameter_rc_channel_index , packet1.param_value0 , packet1.scale , packet1.param_value_min , packet1.param_value_max ); 01859 mavlink_msg_param_map_rc_decode(&msg, &packet2); 01860 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01861 01862 memset(&packet2, 0, sizeof(packet2)); 01863 mavlink_msg_param_map_rc_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_index , packet1.parameter_rc_channel_index , packet1.param_value0 , packet1.scale , packet1.param_value_min , packet1.param_value_max ); 01864 mavlink_msg_param_map_rc_decode(&msg, &packet2); 01865 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01866 01867 memset(&packet2, 0, sizeof(packet2)); 01868 mavlink_msg_to_send_buffer(buffer, &msg); 01869 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 01870 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 01871 } 01872 mavlink_msg_param_map_rc_decode(last_msg, &packet2); 01873 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01874 01875 memset(&packet2, 0, sizeof(packet2)); 01876 mavlink_msg_param_map_rc_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_index , packet1.parameter_rc_channel_index , packet1.param_value0 , packet1.scale , packet1.param_value_min , packet1.param_value_max ); 01877 mavlink_msg_param_map_rc_decode(last_msg, &packet2); 01878 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01879 } 01880 01881 static void mavlink_test_safety_set_allowed_area(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 01882 { 01883 mavlink_message_t msg; 01884 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 01885 uint16_t i; 01886 mavlink_safety_set_allowed_area_t packet_in = { 01887 17.0,45.0,73.0,101.0,129.0,157.0,77,144,211 01888 }; 01889 mavlink_safety_set_allowed_area_t packet1, packet2; 01890 memset(&packet1, 0, sizeof(packet1)); 01891 packet1.p1x = packet_in.p1x; 01892 packet1.p1y = packet_in.p1y; 01893 packet1.p1z = packet_in.p1z; 01894 packet1.p2x = packet_in.p2x; 01895 packet1.p2y = packet_in.p2y; 01896 packet1.p2z = packet_in.p2z; 01897 packet1.target_system = packet_in.target_system; 01898 packet1.target_component = packet_in.target_component; 01899 packet1.frame = packet_in.frame; 01900 01901 01902 01903 memset(&packet2, 0, sizeof(packet2)); 01904 mavlink_msg_safety_set_allowed_area_encode(system_id, component_id, &msg, &packet1); 01905 mavlink_msg_safety_set_allowed_area_decode(&msg, &packet2); 01906 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01907 01908 memset(&packet2, 0, sizeof(packet2)); 01909 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 ); 01910 mavlink_msg_safety_set_allowed_area_decode(&msg, &packet2); 01911 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01912 01913 memset(&packet2, 0, sizeof(packet2)); 01914 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 ); 01915 mavlink_msg_safety_set_allowed_area_decode(&msg, &packet2); 01916 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01917 01918 memset(&packet2, 0, sizeof(packet2)); 01919 mavlink_msg_to_send_buffer(buffer, &msg); 01920 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 01921 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 01922 } 01923 mavlink_msg_safety_set_allowed_area_decode(last_msg, &packet2); 01924 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01925 01926 memset(&packet2, 0, sizeof(packet2)); 01927 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 ); 01928 mavlink_msg_safety_set_allowed_area_decode(last_msg, &packet2); 01929 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01930 } 01931 01932 static void mavlink_test_safety_allowed_area(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 01933 { 01934 mavlink_message_t msg; 01935 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 01936 uint16_t i; 01937 mavlink_safety_allowed_area_t packet_in = { 01938 17.0,45.0,73.0,101.0,129.0,157.0,77 01939 }; 01940 mavlink_safety_allowed_area_t packet1, packet2; 01941 memset(&packet1, 0, sizeof(packet1)); 01942 packet1.p1x = packet_in.p1x; 01943 packet1.p1y = packet_in.p1y; 01944 packet1.p1z = packet_in.p1z; 01945 packet1.p2x = packet_in.p2x; 01946 packet1.p2y = packet_in.p2y; 01947 packet1.p2z = packet_in.p2z; 01948 packet1.frame = packet_in.frame; 01949 01950 01951 01952 memset(&packet2, 0, sizeof(packet2)); 01953 mavlink_msg_safety_allowed_area_encode(system_id, component_id, &msg, &packet1); 01954 mavlink_msg_safety_allowed_area_decode(&msg, &packet2); 01955 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01956 01957 memset(&packet2, 0, sizeof(packet2)); 01958 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 ); 01959 mavlink_msg_safety_allowed_area_decode(&msg, &packet2); 01960 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01961 01962 memset(&packet2, 0, sizeof(packet2)); 01963 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 ); 01964 mavlink_msg_safety_allowed_area_decode(&msg, &packet2); 01965 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01966 01967 memset(&packet2, 0, sizeof(packet2)); 01968 mavlink_msg_to_send_buffer(buffer, &msg); 01969 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 01970 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 01971 } 01972 mavlink_msg_safety_allowed_area_decode(last_msg, &packet2); 01973 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01974 01975 memset(&packet2, 0, sizeof(packet2)); 01976 mavlink_msg_safety_allowed_area_send(MAVLINK_COMM_1 , packet1.frame , packet1.p1x , packet1.p1y , packet1.p1z , packet1.p2x , packet1.p2y , packet1.p2z ); 01977 mavlink_msg_safety_allowed_area_decode(last_msg, &packet2); 01978 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 01979 } 01980 01981 static void mavlink_test_attitude_quaternion_cov(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 01982 { 01983 mavlink_message_t msg; 01984 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 01985 uint16_t i; 01986 mavlink_attitude_quaternion_cov_t packet_in = { 01987 963497464,{ 45.0, 46.0, 47.0, 48.0 },157.0,185.0,213.0,{ 241.0, 242.0, 243.0, 244.0, 245.0, 246.0, 247.0, 248.0, 249.0 } 01988 }; 01989 mavlink_attitude_quaternion_cov_t packet1, packet2; 01990 memset(&packet1, 0, sizeof(packet1)); 01991 packet1.time_boot_ms = packet_in.time_boot_ms; 01992 packet1.rollspeed = packet_in.rollspeed; 01993 packet1.pitchspeed = packet_in.pitchspeed; 01994 packet1.yawspeed = packet_in.yawspeed; 01995 01996 mav_array_memcpy(packet1.q, packet_in.q, sizeof(float)*4); 01997 mav_array_memcpy(packet1.covariance, packet_in.covariance, sizeof(float)*9); 01998 01999 02000 memset(&packet2, 0, sizeof(packet2)); 02001 mavlink_msg_attitude_quaternion_cov_encode(system_id, component_id, &msg, &packet1); 02002 mavlink_msg_attitude_quaternion_cov_decode(&msg, &packet2); 02003 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02004 02005 memset(&packet2, 0, sizeof(packet2)); 02006 mavlink_msg_attitude_quaternion_cov_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.q , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.covariance ); 02007 mavlink_msg_attitude_quaternion_cov_decode(&msg, &packet2); 02008 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02009 02010 memset(&packet2, 0, sizeof(packet2)); 02011 mavlink_msg_attitude_quaternion_cov_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.q , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.covariance ); 02012 mavlink_msg_attitude_quaternion_cov_decode(&msg, &packet2); 02013 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02014 02015 memset(&packet2, 0, sizeof(packet2)); 02016 mavlink_msg_to_send_buffer(buffer, &msg); 02017 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 02018 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 02019 } 02020 mavlink_msg_attitude_quaternion_cov_decode(last_msg, &packet2); 02021 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02022 02023 memset(&packet2, 0, sizeof(packet2)); 02024 mavlink_msg_attitude_quaternion_cov_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.q , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.covariance ); 02025 mavlink_msg_attitude_quaternion_cov_decode(last_msg, &packet2); 02026 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02027 } 02028 02029 static void mavlink_test_nav_controller_output(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 02030 { 02031 mavlink_message_t msg; 02032 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 02033 uint16_t i; 02034 mavlink_nav_controller_output_t packet_in = { 02035 17.0,45.0,73.0,101.0,129.0,18275,18379,18483 02036 }; 02037 mavlink_nav_controller_output_t packet1, packet2; 02038 memset(&packet1, 0, sizeof(packet1)); 02039 packet1.nav_roll = packet_in.nav_roll; 02040 packet1.nav_pitch = packet_in.nav_pitch; 02041 packet1.alt_error = packet_in.alt_error; 02042 packet1.aspd_error = packet_in.aspd_error; 02043 packet1.xtrack_error = packet_in.xtrack_error; 02044 packet1.nav_bearing = packet_in.nav_bearing; 02045 packet1.target_bearing = packet_in.target_bearing; 02046 packet1.wp_dist = packet_in.wp_dist; 02047 02048 02049 02050 memset(&packet2, 0, sizeof(packet2)); 02051 mavlink_msg_nav_controller_output_encode(system_id, component_id, &msg, &packet1); 02052 mavlink_msg_nav_controller_output_decode(&msg, &packet2); 02053 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02054 02055 memset(&packet2, 0, sizeof(packet2)); 02056 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 ); 02057 mavlink_msg_nav_controller_output_decode(&msg, &packet2); 02058 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02059 02060 memset(&packet2, 0, sizeof(packet2)); 02061 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 ); 02062 mavlink_msg_nav_controller_output_decode(&msg, &packet2); 02063 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02064 02065 memset(&packet2, 0, sizeof(packet2)); 02066 mavlink_msg_to_send_buffer(buffer, &msg); 02067 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 02068 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 02069 } 02070 mavlink_msg_nav_controller_output_decode(last_msg, &packet2); 02071 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02072 02073 memset(&packet2, 0, sizeof(packet2)); 02074 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 ); 02075 mavlink_msg_nav_controller_output_decode(last_msg, &packet2); 02076 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02077 } 02078 02079 static void mavlink_test_global_position_int_cov(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 02080 { 02081 mavlink_message_t msg; 02082 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 02083 uint16_t i; 02084 mavlink_global_position_int_cov_t packet_in = { 02085 93372036854775807ULL,963497880,963498088,963498296,963498504,963498712,213.0,241.0,269.0,{ 297.0, 298.0, 299.0, 300.0, 301.0, 302.0, 303.0, 304.0, 305.0, 306.0, 307.0, 308.0, 309.0, 310.0, 311.0, 312.0, 313.0, 314.0, 315.0, 316.0, 317.0, 318.0, 319.0, 320.0, 321.0, 322.0, 323.0, 324.0, 325.0, 326.0, 327.0, 328.0, 329.0, 330.0, 331.0, 332.0 },45 02086 }; 02087 mavlink_global_position_int_cov_t packet1, packet2; 02088 memset(&packet1, 0, sizeof(packet1)); 02089 packet1.time_utc = packet_in.time_utc; 02090 packet1.time_boot_ms = packet_in.time_boot_ms; 02091 packet1.lat = packet_in.lat; 02092 packet1.lon = packet_in.lon; 02093 packet1.alt = packet_in.alt; 02094 packet1.relative_alt = packet_in.relative_alt; 02095 packet1.vx = packet_in.vx; 02096 packet1.vy = packet_in.vy; 02097 packet1.vz = packet_in.vz; 02098 packet1.estimator_type = packet_in.estimator_type; 02099 02100 mav_array_memcpy(packet1.covariance, packet_in.covariance, sizeof(float)*36); 02101 02102 02103 memset(&packet2, 0, sizeof(packet2)); 02104 mavlink_msg_global_position_int_cov_encode(system_id, component_id, &msg, &packet1); 02105 mavlink_msg_global_position_int_cov_decode(&msg, &packet2); 02106 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02107 02108 memset(&packet2, 0, sizeof(packet2)); 02109 mavlink_msg_global_position_int_cov_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.time_utc , packet1.estimator_type , packet1.lat , packet1.lon , packet1.alt , packet1.relative_alt , packet1.vx , packet1.vy , packet1.vz , packet1.covariance ); 02110 mavlink_msg_global_position_int_cov_decode(&msg, &packet2); 02111 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02112 02113 memset(&packet2, 0, sizeof(packet2)); 02114 mavlink_msg_global_position_int_cov_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.time_utc , packet1.estimator_type , packet1.lat , packet1.lon , packet1.alt , packet1.relative_alt , packet1.vx , packet1.vy , packet1.vz , packet1.covariance ); 02115 mavlink_msg_global_position_int_cov_decode(&msg, &packet2); 02116 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02117 02118 memset(&packet2, 0, sizeof(packet2)); 02119 mavlink_msg_to_send_buffer(buffer, &msg); 02120 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 02121 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 02122 } 02123 mavlink_msg_global_position_int_cov_decode(last_msg, &packet2); 02124 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02125 02126 memset(&packet2, 0, sizeof(packet2)); 02127 mavlink_msg_global_position_int_cov_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.time_utc , packet1.estimator_type , packet1.lat , packet1.lon , packet1.alt , packet1.relative_alt , packet1.vx , packet1.vy , packet1.vz , packet1.covariance ); 02128 mavlink_msg_global_position_int_cov_decode(last_msg, &packet2); 02129 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02130 } 02131 02132 static void mavlink_test_local_position_ned_cov(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 02133 { 02134 mavlink_message_t msg; 02135 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 02136 uint16_t i; 02137 mavlink_local_position_ned_cov_t packet_in = { 02138 93372036854775807ULL,963497880,101.0,129.0,157.0,185.0,213.0,241.0,269.0,297.0,325.0,{ 353.0, 354.0, 355.0, 356.0, 357.0, 358.0, 359.0, 360.0, 361.0, 362.0, 363.0, 364.0, 365.0, 366.0, 367.0, 368.0, 369.0, 370.0, 371.0, 372.0, 373.0, 374.0, 375.0, 376.0, 377.0, 378.0, 379.0, 380.0, 381.0, 382.0, 383.0, 384.0, 385.0, 386.0, 387.0, 388.0, 389.0, 390.0, 391.0, 392.0, 393.0, 394.0, 395.0, 396.0, 397.0 },177 02139 }; 02140 mavlink_local_position_ned_cov_t packet1, packet2; 02141 memset(&packet1, 0, sizeof(packet1)); 02142 packet1.time_utc = packet_in.time_utc; 02143 packet1.time_boot_ms = packet_in.time_boot_ms; 02144 packet1.x = packet_in.x; 02145 packet1.y = packet_in.y; 02146 packet1.z = packet_in.z; 02147 packet1.vx = packet_in.vx; 02148 packet1.vy = packet_in.vy; 02149 packet1.vz = packet_in.vz; 02150 packet1.ax = packet_in.ax; 02151 packet1.ay = packet_in.ay; 02152 packet1.az = packet_in.az; 02153 packet1.estimator_type = packet_in.estimator_type; 02154 02155 mav_array_memcpy(packet1.covariance, packet_in.covariance, sizeof(float)*45); 02156 02157 02158 memset(&packet2, 0, sizeof(packet2)); 02159 mavlink_msg_local_position_ned_cov_encode(system_id, component_id, &msg, &packet1); 02160 mavlink_msg_local_position_ned_cov_decode(&msg, &packet2); 02161 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02162 02163 memset(&packet2, 0, sizeof(packet2)); 02164 mavlink_msg_local_position_ned_cov_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.time_utc , packet1.estimator_type , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz , packet1.ax , packet1.ay , packet1.az , packet1.covariance ); 02165 mavlink_msg_local_position_ned_cov_decode(&msg, &packet2); 02166 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02167 02168 memset(&packet2, 0, sizeof(packet2)); 02169 mavlink_msg_local_position_ned_cov_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.time_utc , packet1.estimator_type , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz , packet1.ax , packet1.ay , packet1.az , packet1.covariance ); 02170 mavlink_msg_local_position_ned_cov_decode(&msg, &packet2); 02171 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02172 02173 memset(&packet2, 0, sizeof(packet2)); 02174 mavlink_msg_to_send_buffer(buffer, &msg); 02175 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 02176 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 02177 } 02178 mavlink_msg_local_position_ned_cov_decode(last_msg, &packet2); 02179 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02180 02181 memset(&packet2, 0, sizeof(packet2)); 02182 mavlink_msg_local_position_ned_cov_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.time_utc , packet1.estimator_type , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz , packet1.ax , packet1.ay , packet1.az , packet1.covariance ); 02183 mavlink_msg_local_position_ned_cov_decode(last_msg, &packet2); 02184 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02185 } 02186 02187 static void mavlink_test_rc_channels(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 02188 { 02189 mavlink_message_t msg; 02190 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 02191 uint16_t i; 02192 mavlink_rc_channels_t packet_in = { 02193 963497464,17443,17547,17651,17755,17859,17963,18067,18171,18275,18379,18483,18587,18691,18795,18899,19003,19107,19211,125,192 02194 }; 02195 mavlink_rc_channels_t packet1, packet2; 02196 memset(&packet1, 0, sizeof(packet1)); 02197 packet1.time_boot_ms = packet_in.time_boot_ms; 02198 packet1.chan1_raw = packet_in.chan1_raw; 02199 packet1.chan2_raw = packet_in.chan2_raw; 02200 packet1.chan3_raw = packet_in.chan3_raw; 02201 packet1.chan4_raw = packet_in.chan4_raw; 02202 packet1.chan5_raw = packet_in.chan5_raw; 02203 packet1.chan6_raw = packet_in.chan6_raw; 02204 packet1.chan7_raw = packet_in.chan7_raw; 02205 packet1.chan8_raw = packet_in.chan8_raw; 02206 packet1.chan9_raw = packet_in.chan9_raw; 02207 packet1.chan10_raw = packet_in.chan10_raw; 02208 packet1.chan11_raw = packet_in.chan11_raw; 02209 packet1.chan12_raw = packet_in.chan12_raw; 02210 packet1.chan13_raw = packet_in.chan13_raw; 02211 packet1.chan14_raw = packet_in.chan14_raw; 02212 packet1.chan15_raw = packet_in.chan15_raw; 02213 packet1.chan16_raw = packet_in.chan16_raw; 02214 packet1.chan17_raw = packet_in.chan17_raw; 02215 packet1.chan18_raw = packet_in.chan18_raw; 02216 packet1.chancount = packet_in.chancount; 02217 packet1.rssi = packet_in.rssi; 02218 02219 02220 02221 memset(&packet2, 0, sizeof(packet2)); 02222 mavlink_msg_rc_channels_encode(system_id, component_id, &msg, &packet1); 02223 mavlink_msg_rc_channels_decode(&msg, &packet2); 02224 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02225 02226 memset(&packet2, 0, sizeof(packet2)); 02227 mavlink_msg_rc_channels_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.chancount , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.chan9_raw , packet1.chan10_raw , packet1.chan11_raw , packet1.chan12_raw , packet1.chan13_raw , packet1.chan14_raw , packet1.chan15_raw , packet1.chan16_raw , packet1.chan17_raw , packet1.chan18_raw , packet1.rssi ); 02228 mavlink_msg_rc_channels_decode(&msg, &packet2); 02229 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02230 02231 memset(&packet2, 0, sizeof(packet2)); 02232 mavlink_msg_rc_channels_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.chancount , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.chan9_raw , packet1.chan10_raw , packet1.chan11_raw , packet1.chan12_raw , packet1.chan13_raw , packet1.chan14_raw , packet1.chan15_raw , packet1.chan16_raw , packet1.chan17_raw , packet1.chan18_raw , packet1.rssi ); 02233 mavlink_msg_rc_channels_decode(&msg, &packet2); 02234 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02235 02236 memset(&packet2, 0, sizeof(packet2)); 02237 mavlink_msg_to_send_buffer(buffer, &msg); 02238 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 02239 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 02240 } 02241 mavlink_msg_rc_channels_decode(last_msg, &packet2); 02242 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02243 02244 memset(&packet2, 0, sizeof(packet2)); 02245 mavlink_msg_rc_channels_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.chancount , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.chan9_raw , packet1.chan10_raw , packet1.chan11_raw , packet1.chan12_raw , packet1.chan13_raw , packet1.chan14_raw , packet1.chan15_raw , packet1.chan16_raw , packet1.chan17_raw , packet1.chan18_raw , packet1.rssi ); 02246 mavlink_msg_rc_channels_decode(last_msg, &packet2); 02247 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02248 } 02249 02250 static void mavlink_test_request_data_stream(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 02251 { 02252 mavlink_message_t msg; 02253 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 02254 uint16_t i; 02255 mavlink_request_data_stream_t packet_in = { 02256 17235,139,206,17,84 02257 }; 02258 mavlink_request_data_stream_t packet1, packet2; 02259 memset(&packet1, 0, sizeof(packet1)); 02260 packet1.req_message_rate = packet_in.req_message_rate; 02261 packet1.target_system = packet_in.target_system; 02262 packet1.target_component = packet_in.target_component; 02263 packet1.req_stream_id = packet_in.req_stream_id; 02264 packet1.start_stop = packet_in.start_stop; 02265 02266 02267 02268 memset(&packet2, 0, sizeof(packet2)); 02269 mavlink_msg_request_data_stream_encode(system_id, component_id, &msg, &packet1); 02270 mavlink_msg_request_data_stream_decode(&msg, &packet2); 02271 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02272 02273 memset(&packet2, 0, sizeof(packet2)); 02274 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 ); 02275 mavlink_msg_request_data_stream_decode(&msg, &packet2); 02276 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02277 02278 memset(&packet2, 0, sizeof(packet2)); 02279 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 ); 02280 mavlink_msg_request_data_stream_decode(&msg, &packet2); 02281 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02282 02283 memset(&packet2, 0, sizeof(packet2)); 02284 mavlink_msg_to_send_buffer(buffer, &msg); 02285 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 02286 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 02287 } 02288 mavlink_msg_request_data_stream_decode(last_msg, &packet2); 02289 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02290 02291 memset(&packet2, 0, sizeof(packet2)); 02292 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 ); 02293 mavlink_msg_request_data_stream_decode(last_msg, &packet2); 02294 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02295 } 02296 02297 static void mavlink_test_data_stream(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 02298 { 02299 mavlink_message_t msg; 02300 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 02301 uint16_t i; 02302 mavlink_data_stream_t packet_in = { 02303 17235,139,206 02304 }; 02305 mavlink_data_stream_t packet1, packet2; 02306 memset(&packet1, 0, sizeof(packet1)); 02307 packet1.message_rate = packet_in.message_rate; 02308 packet1.stream_id = packet_in.stream_id; 02309 packet1.on_off = packet_in.on_off; 02310 02311 02312 02313 memset(&packet2, 0, sizeof(packet2)); 02314 mavlink_msg_data_stream_encode(system_id, component_id, &msg, &packet1); 02315 mavlink_msg_data_stream_decode(&msg, &packet2); 02316 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02317 02318 memset(&packet2, 0, sizeof(packet2)); 02319 mavlink_msg_data_stream_pack(system_id, component_id, &msg , packet1.stream_id , packet1.message_rate , packet1.on_off ); 02320 mavlink_msg_data_stream_decode(&msg, &packet2); 02321 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02322 02323 memset(&packet2, 0, sizeof(packet2)); 02324 mavlink_msg_data_stream_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.stream_id , packet1.message_rate , packet1.on_off ); 02325 mavlink_msg_data_stream_decode(&msg, &packet2); 02326 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02327 02328 memset(&packet2, 0, sizeof(packet2)); 02329 mavlink_msg_to_send_buffer(buffer, &msg); 02330 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 02331 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 02332 } 02333 mavlink_msg_data_stream_decode(last_msg, &packet2); 02334 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02335 02336 memset(&packet2, 0, sizeof(packet2)); 02337 mavlink_msg_data_stream_send(MAVLINK_COMM_1 , packet1.stream_id , packet1.message_rate , packet1.on_off ); 02338 mavlink_msg_data_stream_decode(last_msg, &packet2); 02339 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02340 } 02341 02342 static void mavlink_test_manual_control(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 02343 { 02344 mavlink_message_t msg; 02345 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 02346 uint16_t i; 02347 mavlink_manual_control_t packet_in = { 02348 17235,17339,17443,17547,17651,163 02349 }; 02350 mavlink_manual_control_t packet1, packet2; 02351 memset(&packet1, 0, sizeof(packet1)); 02352 packet1.x = packet_in.x; 02353 packet1.y = packet_in.y; 02354 packet1.z = packet_in.z; 02355 packet1.r = packet_in.r; 02356 packet1.buttons = packet_in.buttons; 02357 packet1.target = packet_in.target; 02358 02359 02360 02361 memset(&packet2, 0, sizeof(packet2)); 02362 mavlink_msg_manual_control_encode(system_id, component_id, &msg, &packet1); 02363 mavlink_msg_manual_control_decode(&msg, &packet2); 02364 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02365 02366 memset(&packet2, 0, sizeof(packet2)); 02367 mavlink_msg_manual_control_pack(system_id, component_id, &msg , packet1.target , packet1.x , packet1.y , packet1.z , packet1.r , packet1.buttons ); 02368 mavlink_msg_manual_control_decode(&msg, &packet2); 02369 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02370 02371 memset(&packet2, 0, sizeof(packet2)); 02372 mavlink_msg_manual_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target , packet1.x , packet1.y , packet1.z , packet1.r , packet1.buttons ); 02373 mavlink_msg_manual_control_decode(&msg, &packet2); 02374 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02375 02376 memset(&packet2, 0, sizeof(packet2)); 02377 mavlink_msg_to_send_buffer(buffer, &msg); 02378 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 02379 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 02380 } 02381 mavlink_msg_manual_control_decode(last_msg, &packet2); 02382 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02383 02384 memset(&packet2, 0, sizeof(packet2)); 02385 mavlink_msg_manual_control_send(MAVLINK_COMM_1 , packet1.target , packet1.x , packet1.y , packet1.z , packet1.r , packet1.buttons ); 02386 mavlink_msg_manual_control_decode(last_msg, &packet2); 02387 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02388 } 02389 02390 static void mavlink_test_rc_channels_override(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 02391 { 02392 mavlink_message_t msg; 02393 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 02394 uint16_t i; 02395 mavlink_rc_channels_override_t packet_in = { 02396 17235,17339,17443,17547,17651,17755,17859,17963,53,120 02397 }; 02398 mavlink_rc_channels_override_t packet1, packet2; 02399 memset(&packet1, 0, sizeof(packet1)); 02400 packet1.chan1_raw = packet_in.chan1_raw; 02401 packet1.chan2_raw = packet_in.chan2_raw; 02402 packet1.chan3_raw = packet_in.chan3_raw; 02403 packet1.chan4_raw = packet_in.chan4_raw; 02404 packet1.chan5_raw = packet_in.chan5_raw; 02405 packet1.chan6_raw = packet_in.chan6_raw; 02406 packet1.chan7_raw = packet_in.chan7_raw; 02407 packet1.chan8_raw = packet_in.chan8_raw; 02408 packet1.target_system = packet_in.target_system; 02409 packet1.target_component = packet_in.target_component; 02410 02411 02412 02413 memset(&packet2, 0, sizeof(packet2)); 02414 mavlink_msg_rc_channels_override_encode(system_id, component_id, &msg, &packet1); 02415 mavlink_msg_rc_channels_override_decode(&msg, &packet2); 02416 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02417 02418 memset(&packet2, 0, sizeof(packet2)); 02419 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 ); 02420 mavlink_msg_rc_channels_override_decode(&msg, &packet2); 02421 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02422 02423 memset(&packet2, 0, sizeof(packet2)); 02424 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 ); 02425 mavlink_msg_rc_channels_override_decode(&msg, &packet2); 02426 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02427 02428 memset(&packet2, 0, sizeof(packet2)); 02429 mavlink_msg_to_send_buffer(buffer, &msg); 02430 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 02431 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 02432 } 02433 mavlink_msg_rc_channels_override_decode(last_msg, &packet2); 02434 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02435 02436 memset(&packet2, 0, sizeof(packet2)); 02437 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 ); 02438 mavlink_msg_rc_channels_override_decode(last_msg, &packet2); 02439 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02440 } 02441 02442 static void mavlink_test_mission_item_int(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 02443 { 02444 mavlink_message_t msg; 02445 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 02446 uint16_t i; 02447 mavlink_mission_item_int_t packet_in = { 02448 17.0,45.0,73.0,101.0,963498296,963498504,185.0,18691,18795,101,168,235,46,113 02449 }; 02450 mavlink_mission_item_int_t packet1, packet2; 02451 memset(&packet1, 0, sizeof(packet1)); 02452 packet1.param1 = packet_in.param1; 02453 packet1.param2 = packet_in.param2; 02454 packet1.param3 = packet_in.param3; 02455 packet1.param4 = packet_in.param4; 02456 packet1.x = packet_in.x; 02457 packet1.y = packet_in.y; 02458 packet1.z = packet_in.z; 02459 packet1.seq = packet_in.seq; 02460 packet1.command = packet_in.command; 02461 packet1.target_system = packet_in.target_system; 02462 packet1.target_component = packet_in.target_component; 02463 packet1.frame = packet_in.frame; 02464 packet1.current = packet_in.current; 02465 packet1.autocontinue = packet_in.autocontinue; 02466 02467 02468 02469 memset(&packet2, 0, sizeof(packet2)); 02470 mavlink_msg_mission_item_int_encode(system_id, component_id, &msg, &packet1); 02471 mavlink_msg_mission_item_int_decode(&msg, &packet2); 02472 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02473 02474 memset(&packet2, 0, sizeof(packet2)); 02475 mavlink_msg_mission_item_int_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 ); 02476 mavlink_msg_mission_item_int_decode(&msg, &packet2); 02477 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02478 02479 memset(&packet2, 0, sizeof(packet2)); 02480 mavlink_msg_mission_item_int_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 ); 02481 mavlink_msg_mission_item_int_decode(&msg, &packet2); 02482 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02483 02484 memset(&packet2, 0, sizeof(packet2)); 02485 mavlink_msg_to_send_buffer(buffer, &msg); 02486 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 02487 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 02488 } 02489 mavlink_msg_mission_item_int_decode(last_msg, &packet2); 02490 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02491 02492 memset(&packet2, 0, sizeof(packet2)); 02493 mavlink_msg_mission_item_int_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 ); 02494 mavlink_msg_mission_item_int_decode(last_msg, &packet2); 02495 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02496 } 02497 02498 static void mavlink_test_vfr_hud(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 02499 { 02500 mavlink_message_t msg; 02501 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 02502 uint16_t i; 02503 mavlink_vfr_hud_t packet_in = { 02504 17.0,45.0,73.0,101.0,18067,18171 02505 }; 02506 mavlink_vfr_hud_t packet1, packet2; 02507 memset(&packet1, 0, sizeof(packet1)); 02508 packet1.airspeed = packet_in.airspeed; 02509 packet1.groundspeed = packet_in.groundspeed; 02510 packet1.alt = packet_in.alt; 02511 packet1.climb = packet_in.climb; 02512 packet1.heading = packet_in.heading; 02513 packet1.throttle = packet_in.throttle; 02514 02515 02516 02517 memset(&packet2, 0, sizeof(packet2)); 02518 mavlink_msg_vfr_hud_encode(system_id, component_id, &msg, &packet1); 02519 mavlink_msg_vfr_hud_decode(&msg, &packet2); 02520 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02521 02522 memset(&packet2, 0, sizeof(packet2)); 02523 mavlink_msg_vfr_hud_pack(system_id, component_id, &msg , packet1.airspeed , packet1.groundspeed , packet1.heading , packet1.throttle , packet1.alt , packet1.climb ); 02524 mavlink_msg_vfr_hud_decode(&msg, &packet2); 02525 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02526 02527 memset(&packet2, 0, sizeof(packet2)); 02528 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 ); 02529 mavlink_msg_vfr_hud_decode(&msg, &packet2); 02530 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02531 02532 memset(&packet2, 0, sizeof(packet2)); 02533 mavlink_msg_to_send_buffer(buffer, &msg); 02534 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 02535 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 02536 } 02537 mavlink_msg_vfr_hud_decode(last_msg, &packet2); 02538 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02539 02540 memset(&packet2, 0, sizeof(packet2)); 02541 mavlink_msg_vfr_hud_send(MAVLINK_COMM_1 , packet1.airspeed , packet1.groundspeed , packet1.heading , packet1.throttle , packet1.alt , packet1.climb ); 02542 mavlink_msg_vfr_hud_decode(last_msg, &packet2); 02543 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02544 } 02545 02546 static void mavlink_test_command_int(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 02547 { 02548 mavlink_message_t msg; 02549 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 02550 uint16_t i; 02551 mavlink_command_int_t packet_in = { 02552 17.0,45.0,73.0,101.0,963498296,963498504,185.0,18691,223,34,101,168,235 02553 }; 02554 mavlink_command_int_t packet1, packet2; 02555 memset(&packet1, 0, sizeof(packet1)); 02556 packet1.param1 = packet_in.param1; 02557 packet1.param2 = packet_in.param2; 02558 packet1.param3 = packet_in.param3; 02559 packet1.param4 = packet_in.param4; 02560 packet1.x = packet_in.x; 02561 packet1.y = packet_in.y; 02562 packet1.z = packet_in.z; 02563 packet1.command = packet_in.command; 02564 packet1.target_system = packet_in.target_system; 02565 packet1.target_component = packet_in.target_component; 02566 packet1.frame = packet_in.frame; 02567 packet1.current = packet_in.current; 02568 packet1.autocontinue = packet_in.autocontinue; 02569 02570 02571 02572 memset(&packet2, 0, sizeof(packet2)); 02573 mavlink_msg_command_int_encode(system_id, component_id, &msg, &packet1); 02574 mavlink_msg_command_int_decode(&msg, &packet2); 02575 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02576 02577 memset(&packet2, 0, sizeof(packet2)); 02578 mavlink_msg_command_int_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.frame , packet1.command , packet1.current , packet1.autocontinue , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.x , packet1.y , packet1.z ); 02579 mavlink_msg_command_int_decode(&msg, &packet2); 02580 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02581 02582 memset(&packet2, 0, sizeof(packet2)); 02583 mavlink_msg_command_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.frame , packet1.command , packet1.current , packet1.autocontinue , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.x , packet1.y , packet1.z ); 02584 mavlink_msg_command_int_decode(&msg, &packet2); 02585 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02586 02587 memset(&packet2, 0, sizeof(packet2)); 02588 mavlink_msg_to_send_buffer(buffer, &msg); 02589 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 02590 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 02591 } 02592 mavlink_msg_command_int_decode(last_msg, &packet2); 02593 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02594 02595 memset(&packet2, 0, sizeof(packet2)); 02596 mavlink_msg_command_int_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.frame , packet1.command , packet1.current , packet1.autocontinue , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.x , packet1.y , packet1.z ); 02597 mavlink_msg_command_int_decode(last_msg, &packet2); 02598 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02599 } 02600 02601 static void mavlink_test_command_long(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 02602 { 02603 mavlink_message_t msg; 02604 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 02605 uint16_t i; 02606 mavlink_command_long_t packet_in = { 02607 17.0,45.0,73.0,101.0,129.0,157.0,185.0,18691,223,34,101 02608 }; 02609 mavlink_command_long_t packet1, packet2; 02610 memset(&packet1, 0, sizeof(packet1)); 02611 packet1.param1 = packet_in.param1; 02612 packet1.param2 = packet_in.param2; 02613 packet1.param3 = packet_in.param3; 02614 packet1.param4 = packet_in.param4; 02615 packet1.param5 = packet_in.param5; 02616 packet1.param6 = packet_in.param6; 02617 packet1.param7 = packet_in.param7; 02618 packet1.command = packet_in.command; 02619 packet1.target_system = packet_in.target_system; 02620 packet1.target_component = packet_in.target_component; 02621 packet1.confirmation = packet_in.confirmation; 02622 02623 02624 02625 memset(&packet2, 0, sizeof(packet2)); 02626 mavlink_msg_command_long_encode(system_id, component_id, &msg, &packet1); 02627 mavlink_msg_command_long_decode(&msg, &packet2); 02628 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02629 02630 memset(&packet2, 0, sizeof(packet2)); 02631 mavlink_msg_command_long_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.command , packet1.confirmation , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.param5 , packet1.param6 , packet1.param7 ); 02632 mavlink_msg_command_long_decode(&msg, &packet2); 02633 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02634 02635 memset(&packet2, 0, sizeof(packet2)); 02636 mavlink_msg_command_long_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.command , packet1.confirmation , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.param5 , packet1.param6 , packet1.param7 ); 02637 mavlink_msg_command_long_decode(&msg, &packet2); 02638 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02639 02640 memset(&packet2, 0, sizeof(packet2)); 02641 mavlink_msg_to_send_buffer(buffer, &msg); 02642 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 02643 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 02644 } 02645 mavlink_msg_command_long_decode(last_msg, &packet2); 02646 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02647 02648 memset(&packet2, 0, sizeof(packet2)); 02649 mavlink_msg_command_long_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.command , packet1.confirmation , packet1.param1 , packet1.param2 , packet1.param3 , packet1.param4 , packet1.param5 , packet1.param6 , packet1.param7 ); 02650 mavlink_msg_command_long_decode(last_msg, &packet2); 02651 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02652 } 02653 02654 static void mavlink_test_command_ack(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 02655 { 02656 mavlink_message_t msg; 02657 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 02658 uint16_t i; 02659 mavlink_command_ack_t packet_in = { 02660 17235,139 02661 }; 02662 mavlink_command_ack_t packet1, packet2; 02663 memset(&packet1, 0, sizeof(packet1)); 02664 packet1.command = packet_in.command; 02665 packet1.result = packet_in.result; 02666 02667 02668 02669 memset(&packet2, 0, sizeof(packet2)); 02670 mavlink_msg_command_ack_encode(system_id, component_id, &msg, &packet1); 02671 mavlink_msg_command_ack_decode(&msg, &packet2); 02672 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02673 02674 memset(&packet2, 0, sizeof(packet2)); 02675 mavlink_msg_command_ack_pack(system_id, component_id, &msg , packet1.command , packet1.result ); 02676 mavlink_msg_command_ack_decode(&msg, &packet2); 02677 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02678 02679 memset(&packet2, 0, sizeof(packet2)); 02680 mavlink_msg_command_ack_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.command , packet1.result ); 02681 mavlink_msg_command_ack_decode(&msg, &packet2); 02682 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02683 02684 memset(&packet2, 0, sizeof(packet2)); 02685 mavlink_msg_to_send_buffer(buffer, &msg); 02686 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 02687 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 02688 } 02689 mavlink_msg_command_ack_decode(last_msg, &packet2); 02690 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02691 02692 memset(&packet2, 0, sizeof(packet2)); 02693 mavlink_msg_command_ack_send(MAVLINK_COMM_1 , packet1.command , packet1.result ); 02694 mavlink_msg_command_ack_decode(last_msg, &packet2); 02695 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02696 } 02697 02698 static void mavlink_test_manual_setpoint(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 02699 { 02700 mavlink_message_t msg; 02701 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 02702 uint16_t i; 02703 mavlink_manual_setpoint_t packet_in = { 02704 963497464,45.0,73.0,101.0,129.0,65,132 02705 }; 02706 mavlink_manual_setpoint_t packet1, packet2; 02707 memset(&packet1, 0, sizeof(packet1)); 02708 packet1.time_boot_ms = packet_in.time_boot_ms; 02709 packet1.roll = packet_in.roll; 02710 packet1.pitch = packet_in.pitch; 02711 packet1.yaw = packet_in.yaw; 02712 packet1.thrust = packet_in.thrust; 02713 packet1.mode_switch = packet_in.mode_switch; 02714 packet1.manual_override_switch = packet_in.manual_override_switch; 02715 02716 02717 02718 memset(&packet2, 0, sizeof(packet2)); 02719 mavlink_msg_manual_setpoint_encode(system_id, component_id, &msg, &packet1); 02720 mavlink_msg_manual_setpoint_decode(&msg, &packet2); 02721 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02722 02723 memset(&packet2, 0, sizeof(packet2)); 02724 mavlink_msg_manual_setpoint_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.mode_switch , packet1.manual_override_switch ); 02725 mavlink_msg_manual_setpoint_decode(&msg, &packet2); 02726 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02727 02728 memset(&packet2, 0, sizeof(packet2)); 02729 mavlink_msg_manual_setpoint_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.mode_switch , packet1.manual_override_switch ); 02730 mavlink_msg_manual_setpoint_decode(&msg, &packet2); 02731 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02732 02733 memset(&packet2, 0, sizeof(packet2)); 02734 mavlink_msg_to_send_buffer(buffer, &msg); 02735 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 02736 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 02737 } 02738 mavlink_msg_manual_setpoint_decode(last_msg, &packet2); 02739 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02740 02741 memset(&packet2, 0, sizeof(packet2)); 02742 mavlink_msg_manual_setpoint_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.thrust , packet1.mode_switch , packet1.manual_override_switch ); 02743 mavlink_msg_manual_setpoint_decode(last_msg, &packet2); 02744 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02745 } 02746 02747 static void mavlink_test_set_attitude_target(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 02748 { 02749 mavlink_message_t msg; 02750 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 02751 uint16_t i; 02752 mavlink_set_attitude_target_t packet_in = { 02753 963497464,{ 45.0, 46.0, 47.0, 48.0 },157.0,185.0,213.0,241.0,113,180,247 02754 }; 02755 mavlink_set_attitude_target_t packet1, packet2; 02756 memset(&packet1, 0, sizeof(packet1)); 02757 packet1.time_boot_ms = packet_in.time_boot_ms; 02758 packet1.body_roll_rate = packet_in.body_roll_rate; 02759 packet1.body_pitch_rate = packet_in.body_pitch_rate; 02760 packet1.body_yaw_rate = packet_in.body_yaw_rate; 02761 packet1.thrust = packet_in.thrust; 02762 packet1.target_system = packet_in.target_system; 02763 packet1.target_component = packet_in.target_component; 02764 packet1.type_mask = packet_in.type_mask; 02765 02766 mav_array_memcpy(packet1.q, packet_in.q, sizeof(float)*4); 02767 02768 02769 memset(&packet2, 0, sizeof(packet2)); 02770 mavlink_msg_set_attitude_target_encode(system_id, component_id, &msg, &packet1); 02771 mavlink_msg_set_attitude_target_decode(&msg, &packet2); 02772 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02773 02774 memset(&packet2, 0, sizeof(packet2)); 02775 mavlink_msg_set_attitude_target_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.target_system , packet1.target_component , packet1.type_mask , packet1.q , packet1.body_roll_rate , packet1.body_pitch_rate , packet1.body_yaw_rate , packet1.thrust ); 02776 mavlink_msg_set_attitude_target_decode(&msg, &packet2); 02777 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02778 02779 memset(&packet2, 0, sizeof(packet2)); 02780 mavlink_msg_set_attitude_target_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.target_system , packet1.target_component , packet1.type_mask , packet1.q , packet1.body_roll_rate , packet1.body_pitch_rate , packet1.body_yaw_rate , packet1.thrust ); 02781 mavlink_msg_set_attitude_target_decode(&msg, &packet2); 02782 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02783 02784 memset(&packet2, 0, sizeof(packet2)); 02785 mavlink_msg_to_send_buffer(buffer, &msg); 02786 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 02787 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 02788 } 02789 mavlink_msg_set_attitude_target_decode(last_msg, &packet2); 02790 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02791 02792 memset(&packet2, 0, sizeof(packet2)); 02793 mavlink_msg_set_attitude_target_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.target_system , packet1.target_component , packet1.type_mask , packet1.q , packet1.body_roll_rate , packet1.body_pitch_rate , packet1.body_yaw_rate , packet1.thrust ); 02794 mavlink_msg_set_attitude_target_decode(last_msg, &packet2); 02795 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02796 } 02797 02798 static void mavlink_test_attitude_target(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 02799 { 02800 mavlink_message_t msg; 02801 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 02802 uint16_t i; 02803 mavlink_attitude_target_t packet_in = { 02804 963497464,{ 45.0, 46.0, 47.0, 48.0 },157.0,185.0,213.0,241.0,113 02805 }; 02806 mavlink_attitude_target_t packet1, packet2; 02807 memset(&packet1, 0, sizeof(packet1)); 02808 packet1.time_boot_ms = packet_in.time_boot_ms; 02809 packet1.body_roll_rate = packet_in.body_roll_rate; 02810 packet1.body_pitch_rate = packet_in.body_pitch_rate; 02811 packet1.body_yaw_rate = packet_in.body_yaw_rate; 02812 packet1.thrust = packet_in.thrust; 02813 packet1.type_mask = packet_in.type_mask; 02814 02815 mav_array_memcpy(packet1.q, packet_in.q, sizeof(float)*4); 02816 02817 02818 memset(&packet2, 0, sizeof(packet2)); 02819 mavlink_msg_attitude_target_encode(system_id, component_id, &msg, &packet1); 02820 mavlink_msg_attitude_target_decode(&msg, &packet2); 02821 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02822 02823 memset(&packet2, 0, sizeof(packet2)); 02824 mavlink_msg_attitude_target_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.type_mask , packet1.q , packet1.body_roll_rate , packet1.body_pitch_rate , packet1.body_yaw_rate , packet1.thrust ); 02825 mavlink_msg_attitude_target_decode(&msg, &packet2); 02826 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02827 02828 memset(&packet2, 0, sizeof(packet2)); 02829 mavlink_msg_attitude_target_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.type_mask , packet1.q , packet1.body_roll_rate , packet1.body_pitch_rate , packet1.body_yaw_rate , packet1.thrust ); 02830 mavlink_msg_attitude_target_decode(&msg, &packet2); 02831 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02832 02833 memset(&packet2, 0, sizeof(packet2)); 02834 mavlink_msg_to_send_buffer(buffer, &msg); 02835 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 02836 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 02837 } 02838 mavlink_msg_attitude_target_decode(last_msg, &packet2); 02839 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02840 02841 memset(&packet2, 0, sizeof(packet2)); 02842 mavlink_msg_attitude_target_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.type_mask , packet1.q , packet1.body_roll_rate , packet1.body_pitch_rate , packet1.body_yaw_rate , packet1.thrust ); 02843 mavlink_msg_attitude_target_decode(last_msg, &packet2); 02844 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02845 } 02846 02847 static void mavlink_test_set_position_target_local_ned(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 02848 { 02849 mavlink_message_t msg; 02850 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 02851 uint16_t i; 02852 mavlink_set_position_target_local_ned_t packet_in = { 02853 963497464,45.0,73.0,101.0,129.0,157.0,185.0,213.0,241.0,269.0,297.0,325.0,19731,27,94,161 02854 }; 02855 mavlink_set_position_target_local_ned_t packet1, packet2; 02856 memset(&packet1, 0, sizeof(packet1)); 02857 packet1.time_boot_ms = packet_in.time_boot_ms; 02858 packet1.x = packet_in.x; 02859 packet1.y = packet_in.y; 02860 packet1.z = packet_in.z; 02861 packet1.vx = packet_in.vx; 02862 packet1.vy = packet_in.vy; 02863 packet1.vz = packet_in.vz; 02864 packet1.afx = packet_in.afx; 02865 packet1.afy = packet_in.afy; 02866 packet1.afz = packet_in.afz; 02867 packet1.yaw = packet_in.yaw; 02868 packet1.yaw_rate = packet_in.yaw_rate; 02869 packet1.type_mask = packet_in.type_mask; 02870 packet1.target_system = packet_in.target_system; 02871 packet1.target_component = packet_in.target_component; 02872 packet1.coordinate_frame = packet_in.coordinate_frame; 02873 02874 02875 02876 memset(&packet2, 0, sizeof(packet2)); 02877 mavlink_msg_set_position_target_local_ned_encode(system_id, component_id, &msg, &packet1); 02878 mavlink_msg_set_position_target_local_ned_decode(&msg, &packet2); 02879 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02880 02881 memset(&packet2, 0, sizeof(packet2)); 02882 mavlink_msg_set_position_target_local_ned_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.target_system , packet1.target_component , packet1.coordinate_frame , packet1.type_mask , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz , packet1.afx , packet1.afy , packet1.afz , packet1.yaw , packet1.yaw_rate ); 02883 mavlink_msg_set_position_target_local_ned_decode(&msg, &packet2); 02884 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02885 02886 memset(&packet2, 0, sizeof(packet2)); 02887 mavlink_msg_set_position_target_local_ned_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.target_system , packet1.target_component , packet1.coordinate_frame , packet1.type_mask , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz , packet1.afx , packet1.afy , packet1.afz , packet1.yaw , packet1.yaw_rate ); 02888 mavlink_msg_set_position_target_local_ned_decode(&msg, &packet2); 02889 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02890 02891 memset(&packet2, 0, sizeof(packet2)); 02892 mavlink_msg_to_send_buffer(buffer, &msg); 02893 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 02894 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 02895 } 02896 mavlink_msg_set_position_target_local_ned_decode(last_msg, &packet2); 02897 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02898 02899 memset(&packet2, 0, sizeof(packet2)); 02900 mavlink_msg_set_position_target_local_ned_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.target_system , packet1.target_component , packet1.coordinate_frame , packet1.type_mask , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz , packet1.afx , packet1.afy , packet1.afz , packet1.yaw , packet1.yaw_rate ); 02901 mavlink_msg_set_position_target_local_ned_decode(last_msg, &packet2); 02902 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02903 } 02904 02905 static void mavlink_test_position_target_local_ned(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 02906 { 02907 mavlink_message_t msg; 02908 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 02909 uint16_t i; 02910 mavlink_position_target_local_ned_t packet_in = { 02911 963497464,45.0,73.0,101.0,129.0,157.0,185.0,213.0,241.0,269.0,297.0,325.0,19731,27 02912 }; 02913 mavlink_position_target_local_ned_t packet1, packet2; 02914 memset(&packet1, 0, sizeof(packet1)); 02915 packet1.time_boot_ms = packet_in.time_boot_ms; 02916 packet1.x = packet_in.x; 02917 packet1.y = packet_in.y; 02918 packet1.z = packet_in.z; 02919 packet1.vx = packet_in.vx; 02920 packet1.vy = packet_in.vy; 02921 packet1.vz = packet_in.vz; 02922 packet1.afx = packet_in.afx; 02923 packet1.afy = packet_in.afy; 02924 packet1.afz = packet_in.afz; 02925 packet1.yaw = packet_in.yaw; 02926 packet1.yaw_rate = packet_in.yaw_rate; 02927 packet1.type_mask = packet_in.type_mask; 02928 packet1.coordinate_frame = packet_in.coordinate_frame; 02929 02930 02931 02932 memset(&packet2, 0, sizeof(packet2)); 02933 mavlink_msg_position_target_local_ned_encode(system_id, component_id, &msg, &packet1); 02934 mavlink_msg_position_target_local_ned_decode(&msg, &packet2); 02935 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02936 02937 memset(&packet2, 0, sizeof(packet2)); 02938 mavlink_msg_position_target_local_ned_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.coordinate_frame , packet1.type_mask , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz , packet1.afx , packet1.afy , packet1.afz , packet1.yaw , packet1.yaw_rate ); 02939 mavlink_msg_position_target_local_ned_decode(&msg, &packet2); 02940 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02941 02942 memset(&packet2, 0, sizeof(packet2)); 02943 mavlink_msg_position_target_local_ned_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.coordinate_frame , packet1.type_mask , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz , packet1.afx , packet1.afy , packet1.afz , packet1.yaw , packet1.yaw_rate ); 02944 mavlink_msg_position_target_local_ned_decode(&msg, &packet2); 02945 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02946 02947 memset(&packet2, 0, sizeof(packet2)); 02948 mavlink_msg_to_send_buffer(buffer, &msg); 02949 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 02950 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 02951 } 02952 mavlink_msg_position_target_local_ned_decode(last_msg, &packet2); 02953 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02954 02955 memset(&packet2, 0, sizeof(packet2)); 02956 mavlink_msg_position_target_local_ned_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.coordinate_frame , packet1.type_mask , packet1.x , packet1.y , packet1.z , packet1.vx , packet1.vy , packet1.vz , packet1.afx , packet1.afy , packet1.afz , packet1.yaw , packet1.yaw_rate ); 02957 mavlink_msg_position_target_local_ned_decode(last_msg, &packet2); 02958 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02959 } 02960 02961 static void mavlink_test_set_position_target_global_int(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 02962 { 02963 mavlink_message_t msg; 02964 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 02965 uint16_t i; 02966 mavlink_set_position_target_global_int_t packet_in = { 02967 963497464,963497672,963497880,101.0,129.0,157.0,185.0,213.0,241.0,269.0,297.0,325.0,19731,27,94,161 02968 }; 02969 mavlink_set_position_target_global_int_t packet1, packet2; 02970 memset(&packet1, 0, sizeof(packet1)); 02971 packet1.time_boot_ms = packet_in.time_boot_ms; 02972 packet1.lat_int = packet_in.lat_int; 02973 packet1.lon_int = packet_in.lon_int; 02974 packet1.alt = packet_in.alt; 02975 packet1.vx = packet_in.vx; 02976 packet1.vy = packet_in.vy; 02977 packet1.vz = packet_in.vz; 02978 packet1.afx = packet_in.afx; 02979 packet1.afy = packet_in.afy; 02980 packet1.afz = packet_in.afz; 02981 packet1.yaw = packet_in.yaw; 02982 packet1.yaw_rate = packet_in.yaw_rate; 02983 packet1.type_mask = packet_in.type_mask; 02984 packet1.target_system = packet_in.target_system; 02985 packet1.target_component = packet_in.target_component; 02986 packet1.coordinate_frame = packet_in.coordinate_frame; 02987 02988 02989 02990 memset(&packet2, 0, sizeof(packet2)); 02991 mavlink_msg_set_position_target_global_int_encode(system_id, component_id, &msg, &packet1); 02992 mavlink_msg_set_position_target_global_int_decode(&msg, &packet2); 02993 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02994 02995 memset(&packet2, 0, sizeof(packet2)); 02996 mavlink_msg_set_position_target_global_int_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.target_system , packet1.target_component , packet1.coordinate_frame , packet1.type_mask , packet1.lat_int , packet1.lon_int , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.afx , packet1.afy , packet1.afz , packet1.yaw , packet1.yaw_rate ); 02997 mavlink_msg_set_position_target_global_int_decode(&msg, &packet2); 02998 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 02999 03000 memset(&packet2, 0, sizeof(packet2)); 03001 mavlink_msg_set_position_target_global_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.target_system , packet1.target_component , packet1.coordinate_frame , packet1.type_mask , packet1.lat_int , packet1.lon_int , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.afx , packet1.afy , packet1.afz , packet1.yaw , packet1.yaw_rate ); 03002 mavlink_msg_set_position_target_global_int_decode(&msg, &packet2); 03003 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03004 03005 memset(&packet2, 0, sizeof(packet2)); 03006 mavlink_msg_to_send_buffer(buffer, &msg); 03007 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 03008 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 03009 } 03010 mavlink_msg_set_position_target_global_int_decode(last_msg, &packet2); 03011 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03012 03013 memset(&packet2, 0, sizeof(packet2)); 03014 mavlink_msg_set_position_target_global_int_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.target_system , packet1.target_component , packet1.coordinate_frame , packet1.type_mask , packet1.lat_int , packet1.lon_int , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.afx , packet1.afy , packet1.afz , packet1.yaw , packet1.yaw_rate ); 03015 mavlink_msg_set_position_target_global_int_decode(last_msg, &packet2); 03016 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03017 } 03018 03019 static void mavlink_test_position_target_global_int(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 03020 { 03021 mavlink_message_t msg; 03022 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 03023 uint16_t i; 03024 mavlink_position_target_global_int_t packet_in = { 03025 963497464,963497672,963497880,101.0,129.0,157.0,185.0,213.0,241.0,269.0,297.0,325.0,19731,27 03026 }; 03027 mavlink_position_target_global_int_t packet1, packet2; 03028 memset(&packet1, 0, sizeof(packet1)); 03029 packet1.time_boot_ms = packet_in.time_boot_ms; 03030 packet1.lat_int = packet_in.lat_int; 03031 packet1.lon_int = packet_in.lon_int; 03032 packet1.alt = packet_in.alt; 03033 packet1.vx = packet_in.vx; 03034 packet1.vy = packet_in.vy; 03035 packet1.vz = packet_in.vz; 03036 packet1.afx = packet_in.afx; 03037 packet1.afy = packet_in.afy; 03038 packet1.afz = packet_in.afz; 03039 packet1.yaw = packet_in.yaw; 03040 packet1.yaw_rate = packet_in.yaw_rate; 03041 packet1.type_mask = packet_in.type_mask; 03042 packet1.coordinate_frame = packet_in.coordinate_frame; 03043 03044 03045 03046 memset(&packet2, 0, sizeof(packet2)); 03047 mavlink_msg_position_target_global_int_encode(system_id, component_id, &msg, &packet1); 03048 mavlink_msg_position_target_global_int_decode(&msg, &packet2); 03049 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03050 03051 memset(&packet2, 0, sizeof(packet2)); 03052 mavlink_msg_position_target_global_int_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.coordinate_frame , packet1.type_mask , packet1.lat_int , packet1.lon_int , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.afx , packet1.afy , packet1.afz , packet1.yaw , packet1.yaw_rate ); 03053 mavlink_msg_position_target_global_int_decode(&msg, &packet2); 03054 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03055 03056 memset(&packet2, 0, sizeof(packet2)); 03057 mavlink_msg_position_target_global_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.coordinate_frame , packet1.type_mask , packet1.lat_int , packet1.lon_int , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.afx , packet1.afy , packet1.afz , packet1.yaw , packet1.yaw_rate ); 03058 mavlink_msg_position_target_global_int_decode(&msg, &packet2); 03059 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03060 03061 memset(&packet2, 0, sizeof(packet2)); 03062 mavlink_msg_to_send_buffer(buffer, &msg); 03063 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 03064 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 03065 } 03066 mavlink_msg_position_target_global_int_decode(last_msg, &packet2); 03067 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03068 03069 memset(&packet2, 0, sizeof(packet2)); 03070 mavlink_msg_position_target_global_int_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.coordinate_frame , packet1.type_mask , packet1.lat_int , packet1.lon_int , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.afx , packet1.afy , packet1.afz , packet1.yaw , packet1.yaw_rate ); 03071 mavlink_msg_position_target_global_int_decode(last_msg, &packet2); 03072 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03073 } 03074 03075 static void mavlink_test_local_position_ned_system_global_offset(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 03076 { 03077 mavlink_message_t msg; 03078 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 03079 uint16_t i; 03080 mavlink_local_position_ned_system_global_offset_t packet_in = { 03081 963497464,45.0,73.0,101.0,129.0,157.0,185.0 03082 }; 03083 mavlink_local_position_ned_system_global_offset_t packet1, packet2; 03084 memset(&packet1, 0, sizeof(packet1)); 03085 packet1.time_boot_ms = packet_in.time_boot_ms; 03086 packet1.x = packet_in.x; 03087 packet1.y = packet_in.y; 03088 packet1.z = packet_in.z; 03089 packet1.roll = packet_in.roll; 03090 packet1.pitch = packet_in.pitch; 03091 packet1.yaw = packet_in.yaw; 03092 03093 03094 03095 memset(&packet2, 0, sizeof(packet2)); 03096 mavlink_msg_local_position_ned_system_global_offset_encode(system_id, component_id, &msg, &packet1); 03097 mavlink_msg_local_position_ned_system_global_offset_decode(&msg, &packet2); 03098 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03099 03100 memset(&packet2, 0, sizeof(packet2)); 03101 mavlink_msg_local_position_ned_system_global_offset_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw ); 03102 mavlink_msg_local_position_ned_system_global_offset_decode(&msg, &packet2); 03103 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03104 03105 memset(&packet2, 0, sizeof(packet2)); 03106 mavlink_msg_local_position_ned_system_global_offset_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw ); 03107 mavlink_msg_local_position_ned_system_global_offset_decode(&msg, &packet2); 03108 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03109 03110 memset(&packet2, 0, sizeof(packet2)); 03111 mavlink_msg_to_send_buffer(buffer, &msg); 03112 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 03113 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 03114 } 03115 mavlink_msg_local_position_ned_system_global_offset_decode(last_msg, &packet2); 03116 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03117 03118 memset(&packet2, 0, sizeof(packet2)); 03119 mavlink_msg_local_position_ned_system_global_offset_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw ); 03120 mavlink_msg_local_position_ned_system_global_offset_decode(last_msg, &packet2); 03121 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03122 } 03123 03124 static void mavlink_test_hil_state(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 03125 { 03126 mavlink_message_t msg; 03127 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 03128 uint16_t i; 03129 mavlink_hil_state_t packet_in = { 03130 93372036854775807ULL,73.0,101.0,129.0,157.0,185.0,213.0,963499128,963499336,963499544,19523,19627,19731,19835,19939,20043 03131 }; 03132 mavlink_hil_state_t packet1, packet2; 03133 memset(&packet1, 0, sizeof(packet1)); 03134 packet1.time_usec = packet_in.time_usec; 03135 packet1.roll = packet_in.roll; 03136 packet1.pitch = packet_in.pitch; 03137 packet1.yaw = packet_in.yaw; 03138 packet1.rollspeed = packet_in.rollspeed; 03139 packet1.pitchspeed = packet_in.pitchspeed; 03140 packet1.yawspeed = packet_in.yawspeed; 03141 packet1.lat = packet_in.lat; 03142 packet1.lon = packet_in.lon; 03143 packet1.alt = packet_in.alt; 03144 packet1.vx = packet_in.vx; 03145 packet1.vy = packet_in.vy; 03146 packet1.vz = packet_in.vz; 03147 packet1.xacc = packet_in.xacc; 03148 packet1.yacc = packet_in.yacc; 03149 packet1.zacc = packet_in.zacc; 03150 03151 03152 03153 memset(&packet2, 0, sizeof(packet2)); 03154 mavlink_msg_hil_state_encode(system_id, component_id, &msg, &packet1); 03155 mavlink_msg_hil_state_decode(&msg, &packet2); 03156 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03157 03158 memset(&packet2, 0, sizeof(packet2)); 03159 mavlink_msg_hil_state_pack(system_id, component_id, &msg , packet1.time_usec , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.xacc , packet1.yacc , packet1.zacc ); 03160 mavlink_msg_hil_state_decode(&msg, &packet2); 03161 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03162 03163 memset(&packet2, 0, sizeof(packet2)); 03164 mavlink_msg_hil_state_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.xacc , packet1.yacc , packet1.zacc ); 03165 mavlink_msg_hil_state_decode(&msg, &packet2); 03166 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03167 03168 memset(&packet2, 0, sizeof(packet2)); 03169 mavlink_msg_to_send_buffer(buffer, &msg); 03170 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 03171 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 03172 } 03173 mavlink_msg_hil_state_decode(last_msg, &packet2); 03174 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03175 03176 memset(&packet2, 0, sizeof(packet2)); 03177 mavlink_msg_hil_state_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.xacc , packet1.yacc , packet1.zacc ); 03178 mavlink_msg_hil_state_decode(last_msg, &packet2); 03179 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03180 } 03181 03182 static void mavlink_test_hil_controls(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 03183 { 03184 mavlink_message_t msg; 03185 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 03186 uint16_t i; 03187 mavlink_hil_controls_t packet_in = { 03188 93372036854775807ULL,73.0,101.0,129.0,157.0,185.0,213.0,241.0,269.0,125,192 03189 }; 03190 mavlink_hil_controls_t packet1, packet2; 03191 memset(&packet1, 0, sizeof(packet1)); 03192 packet1.time_usec = packet_in.time_usec; 03193 packet1.roll_ailerons = packet_in.roll_ailerons; 03194 packet1.pitch_elevator = packet_in.pitch_elevator; 03195 packet1.yaw_rudder = packet_in.yaw_rudder; 03196 packet1.throttle = packet_in.throttle; 03197 packet1.aux1 = packet_in.aux1; 03198 packet1.aux2 = packet_in.aux2; 03199 packet1.aux3 = packet_in.aux3; 03200 packet1.aux4 = packet_in.aux4; 03201 packet1.mode = packet_in.mode; 03202 packet1.nav_mode = packet_in.nav_mode; 03203 03204 03205 03206 memset(&packet2, 0, sizeof(packet2)); 03207 mavlink_msg_hil_controls_encode(system_id, component_id, &msg, &packet1); 03208 mavlink_msg_hil_controls_decode(&msg, &packet2); 03209 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03210 03211 memset(&packet2, 0, sizeof(packet2)); 03212 mavlink_msg_hil_controls_pack(system_id, component_id, &msg , packet1.time_usec , packet1.roll_ailerons , packet1.pitch_elevator , packet1.yaw_rudder , packet1.throttle , packet1.aux1 , packet1.aux2 , packet1.aux3 , packet1.aux4 , packet1.mode , packet1.nav_mode ); 03213 mavlink_msg_hil_controls_decode(&msg, &packet2); 03214 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03215 03216 memset(&packet2, 0, sizeof(packet2)); 03217 mavlink_msg_hil_controls_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.roll_ailerons , packet1.pitch_elevator , packet1.yaw_rudder , packet1.throttle , packet1.aux1 , packet1.aux2 , packet1.aux3 , packet1.aux4 , packet1.mode , packet1.nav_mode ); 03218 mavlink_msg_hil_controls_decode(&msg, &packet2); 03219 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03220 03221 memset(&packet2, 0, sizeof(packet2)); 03222 mavlink_msg_to_send_buffer(buffer, &msg); 03223 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 03224 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 03225 } 03226 mavlink_msg_hil_controls_decode(last_msg, &packet2); 03227 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03228 03229 memset(&packet2, 0, sizeof(packet2)); 03230 mavlink_msg_hil_controls_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.roll_ailerons , packet1.pitch_elevator , packet1.yaw_rudder , packet1.throttle , packet1.aux1 , packet1.aux2 , packet1.aux3 , packet1.aux4 , packet1.mode , packet1.nav_mode ); 03231 mavlink_msg_hil_controls_decode(last_msg, &packet2); 03232 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03233 } 03234 03235 static void mavlink_test_hil_rc_inputs_raw(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 03236 { 03237 mavlink_message_t msg; 03238 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 03239 uint16_t i; 03240 mavlink_hil_rc_inputs_raw_t packet_in = { 03241 93372036854775807ULL,17651,17755,17859,17963,18067,18171,18275,18379,18483,18587,18691,18795,101 03242 }; 03243 mavlink_hil_rc_inputs_raw_t packet1, packet2; 03244 memset(&packet1, 0, sizeof(packet1)); 03245 packet1.time_usec = packet_in.time_usec; 03246 packet1.chan1_raw = packet_in.chan1_raw; 03247 packet1.chan2_raw = packet_in.chan2_raw; 03248 packet1.chan3_raw = packet_in.chan3_raw; 03249 packet1.chan4_raw = packet_in.chan4_raw; 03250 packet1.chan5_raw = packet_in.chan5_raw; 03251 packet1.chan6_raw = packet_in.chan6_raw; 03252 packet1.chan7_raw = packet_in.chan7_raw; 03253 packet1.chan8_raw = packet_in.chan8_raw; 03254 packet1.chan9_raw = packet_in.chan9_raw; 03255 packet1.chan10_raw = packet_in.chan10_raw; 03256 packet1.chan11_raw = packet_in.chan11_raw; 03257 packet1.chan12_raw = packet_in.chan12_raw; 03258 packet1.rssi = packet_in.rssi; 03259 03260 03261 03262 memset(&packet2, 0, sizeof(packet2)); 03263 mavlink_msg_hil_rc_inputs_raw_encode(system_id, component_id, &msg, &packet1); 03264 mavlink_msg_hil_rc_inputs_raw_decode(&msg, &packet2); 03265 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03266 03267 memset(&packet2, 0, sizeof(packet2)); 03268 mavlink_msg_hil_rc_inputs_raw_pack(system_id, component_id, &msg , packet1.time_usec , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.chan9_raw , packet1.chan10_raw , packet1.chan11_raw , packet1.chan12_raw , packet1.rssi ); 03269 mavlink_msg_hil_rc_inputs_raw_decode(&msg, &packet2); 03270 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03271 03272 memset(&packet2, 0, sizeof(packet2)); 03273 mavlink_msg_hil_rc_inputs_raw_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.chan9_raw , packet1.chan10_raw , packet1.chan11_raw , packet1.chan12_raw , packet1.rssi ); 03274 mavlink_msg_hil_rc_inputs_raw_decode(&msg, &packet2); 03275 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03276 03277 memset(&packet2, 0, sizeof(packet2)); 03278 mavlink_msg_to_send_buffer(buffer, &msg); 03279 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 03280 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 03281 } 03282 mavlink_msg_hil_rc_inputs_raw_decode(last_msg, &packet2); 03283 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03284 03285 memset(&packet2, 0, sizeof(packet2)); 03286 mavlink_msg_hil_rc_inputs_raw_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.chan1_raw , packet1.chan2_raw , packet1.chan3_raw , packet1.chan4_raw , packet1.chan5_raw , packet1.chan6_raw , packet1.chan7_raw , packet1.chan8_raw , packet1.chan9_raw , packet1.chan10_raw , packet1.chan11_raw , packet1.chan12_raw , packet1.rssi ); 03287 mavlink_msg_hil_rc_inputs_raw_decode(last_msg, &packet2); 03288 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03289 } 03290 03291 static void mavlink_test_optical_flow(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 03292 { 03293 mavlink_message_t msg; 03294 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 03295 uint16_t i; 03296 mavlink_optical_flow_t packet_in = { 03297 93372036854775807ULL,73.0,101.0,129.0,18275,18379,77,144 03298 }; 03299 mavlink_optical_flow_t packet1, packet2; 03300 memset(&packet1, 0, sizeof(packet1)); 03301 packet1.time_usec = packet_in.time_usec; 03302 packet1.flow_comp_m_x = packet_in.flow_comp_m_x; 03303 packet1.flow_comp_m_y = packet_in.flow_comp_m_y; 03304 packet1.ground_distance = packet_in.ground_distance; 03305 packet1.flow_x = packet_in.flow_x; 03306 packet1.flow_y = packet_in.flow_y; 03307 packet1.sensor_id = packet_in.sensor_id; 03308 packet1.quality = packet_in.quality; 03309 03310 03311 03312 memset(&packet2, 0, sizeof(packet2)); 03313 mavlink_msg_optical_flow_encode(system_id, component_id, &msg, &packet1); 03314 mavlink_msg_optical_flow_decode(&msg, &packet2); 03315 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03316 03317 memset(&packet2, 0, sizeof(packet2)); 03318 mavlink_msg_optical_flow_pack(system_id, component_id, &msg , packet1.time_usec , packet1.sensor_id , packet1.flow_x , packet1.flow_y , packet1.flow_comp_m_x , packet1.flow_comp_m_y , packet1.quality , packet1.ground_distance ); 03319 mavlink_msg_optical_flow_decode(&msg, &packet2); 03320 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03321 03322 memset(&packet2, 0, sizeof(packet2)); 03323 mavlink_msg_optical_flow_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.sensor_id , packet1.flow_x , packet1.flow_y , packet1.flow_comp_m_x , packet1.flow_comp_m_y , packet1.quality , packet1.ground_distance ); 03324 mavlink_msg_optical_flow_decode(&msg, &packet2); 03325 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03326 03327 memset(&packet2, 0, sizeof(packet2)); 03328 mavlink_msg_to_send_buffer(buffer, &msg); 03329 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 03330 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 03331 } 03332 mavlink_msg_optical_flow_decode(last_msg, &packet2); 03333 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03334 03335 memset(&packet2, 0, sizeof(packet2)); 03336 mavlink_msg_optical_flow_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.sensor_id , packet1.flow_x , packet1.flow_y , packet1.flow_comp_m_x , packet1.flow_comp_m_y , packet1.quality , packet1.ground_distance ); 03337 mavlink_msg_optical_flow_decode(last_msg, &packet2); 03338 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03339 } 03340 03341 static void mavlink_test_global_vision_position_estimate(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 03342 { 03343 mavlink_message_t msg; 03344 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 03345 uint16_t i; 03346 mavlink_global_vision_position_estimate_t packet_in = { 03347 93372036854775807ULL,73.0,101.0,129.0,157.0,185.0,213.0 03348 }; 03349 mavlink_global_vision_position_estimate_t packet1, packet2; 03350 memset(&packet1, 0, sizeof(packet1)); 03351 packet1.usec = packet_in.usec; 03352 packet1.x = packet_in.x; 03353 packet1.y = packet_in.y; 03354 packet1.z = packet_in.z; 03355 packet1.roll = packet_in.roll; 03356 packet1.pitch = packet_in.pitch; 03357 packet1.yaw = packet_in.yaw; 03358 03359 03360 03361 memset(&packet2, 0, sizeof(packet2)); 03362 mavlink_msg_global_vision_position_estimate_encode(system_id, component_id, &msg, &packet1); 03363 mavlink_msg_global_vision_position_estimate_decode(&msg, &packet2); 03364 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03365 03366 memset(&packet2, 0, sizeof(packet2)); 03367 mavlink_msg_global_vision_position_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw ); 03368 mavlink_msg_global_vision_position_estimate_decode(&msg, &packet2); 03369 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03370 03371 memset(&packet2, 0, sizeof(packet2)); 03372 mavlink_msg_global_vision_position_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw ); 03373 mavlink_msg_global_vision_position_estimate_decode(&msg, &packet2); 03374 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03375 03376 memset(&packet2, 0, sizeof(packet2)); 03377 mavlink_msg_to_send_buffer(buffer, &msg); 03378 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 03379 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 03380 } 03381 mavlink_msg_global_vision_position_estimate_decode(last_msg, &packet2); 03382 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03383 03384 memset(&packet2, 0, sizeof(packet2)); 03385 mavlink_msg_global_vision_position_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw ); 03386 mavlink_msg_global_vision_position_estimate_decode(last_msg, &packet2); 03387 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03388 } 03389 03390 static void mavlink_test_vision_position_estimate(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 03391 { 03392 mavlink_message_t msg; 03393 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 03394 uint16_t i; 03395 mavlink_vision_position_estimate_t packet_in = { 03396 93372036854775807ULL,73.0,101.0,129.0,157.0,185.0,213.0 03397 }; 03398 mavlink_vision_position_estimate_t packet1, packet2; 03399 memset(&packet1, 0, sizeof(packet1)); 03400 packet1.usec = packet_in.usec; 03401 packet1.x = packet_in.x; 03402 packet1.y = packet_in.y; 03403 packet1.z = packet_in.z; 03404 packet1.roll = packet_in.roll; 03405 packet1.pitch = packet_in.pitch; 03406 packet1.yaw = packet_in.yaw; 03407 03408 03409 03410 memset(&packet2, 0, sizeof(packet2)); 03411 mavlink_msg_vision_position_estimate_encode(system_id, component_id, &msg, &packet1); 03412 mavlink_msg_vision_position_estimate_decode(&msg, &packet2); 03413 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03414 03415 memset(&packet2, 0, sizeof(packet2)); 03416 mavlink_msg_vision_position_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw ); 03417 mavlink_msg_vision_position_estimate_decode(&msg, &packet2); 03418 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03419 03420 memset(&packet2, 0, sizeof(packet2)); 03421 mavlink_msg_vision_position_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw ); 03422 mavlink_msg_vision_position_estimate_decode(&msg, &packet2); 03423 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03424 03425 memset(&packet2, 0, sizeof(packet2)); 03426 mavlink_msg_to_send_buffer(buffer, &msg); 03427 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 03428 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 03429 } 03430 mavlink_msg_vision_position_estimate_decode(last_msg, &packet2); 03431 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03432 03433 memset(&packet2, 0, sizeof(packet2)); 03434 mavlink_msg_vision_position_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw ); 03435 mavlink_msg_vision_position_estimate_decode(last_msg, &packet2); 03436 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03437 } 03438 03439 static void mavlink_test_vision_speed_estimate(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 03440 { 03441 mavlink_message_t msg; 03442 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 03443 uint16_t i; 03444 mavlink_vision_speed_estimate_t packet_in = { 03445 93372036854775807ULL,73.0,101.0,129.0 03446 }; 03447 mavlink_vision_speed_estimate_t packet1, packet2; 03448 memset(&packet1, 0, sizeof(packet1)); 03449 packet1.usec = packet_in.usec; 03450 packet1.x = packet_in.x; 03451 packet1.y = packet_in.y; 03452 packet1.z = packet_in.z; 03453 03454 03455 03456 memset(&packet2, 0, sizeof(packet2)); 03457 mavlink_msg_vision_speed_estimate_encode(system_id, component_id, &msg, &packet1); 03458 mavlink_msg_vision_speed_estimate_decode(&msg, &packet2); 03459 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03460 03461 memset(&packet2, 0, sizeof(packet2)); 03462 mavlink_msg_vision_speed_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z ); 03463 mavlink_msg_vision_speed_estimate_decode(&msg, &packet2); 03464 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03465 03466 memset(&packet2, 0, sizeof(packet2)); 03467 mavlink_msg_vision_speed_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z ); 03468 mavlink_msg_vision_speed_estimate_decode(&msg, &packet2); 03469 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03470 03471 memset(&packet2, 0, sizeof(packet2)); 03472 mavlink_msg_to_send_buffer(buffer, &msg); 03473 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 03474 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 03475 } 03476 mavlink_msg_vision_speed_estimate_decode(last_msg, &packet2); 03477 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03478 03479 memset(&packet2, 0, sizeof(packet2)); 03480 mavlink_msg_vision_speed_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z ); 03481 mavlink_msg_vision_speed_estimate_decode(last_msg, &packet2); 03482 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03483 } 03484 03485 static void mavlink_test_vicon_position_estimate(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 03486 { 03487 mavlink_message_t msg; 03488 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 03489 uint16_t i; 03490 mavlink_vicon_position_estimate_t packet_in = { 03491 93372036854775807ULL,73.0,101.0,129.0,157.0,185.0,213.0 03492 }; 03493 mavlink_vicon_position_estimate_t packet1, packet2; 03494 memset(&packet1, 0, sizeof(packet1)); 03495 packet1.usec = packet_in.usec; 03496 packet1.x = packet_in.x; 03497 packet1.y = packet_in.y; 03498 packet1.z = packet_in.z; 03499 packet1.roll = packet_in.roll; 03500 packet1.pitch = packet_in.pitch; 03501 packet1.yaw = packet_in.yaw; 03502 03503 03504 03505 memset(&packet2, 0, sizeof(packet2)); 03506 mavlink_msg_vicon_position_estimate_encode(system_id, component_id, &msg, &packet1); 03507 mavlink_msg_vicon_position_estimate_decode(&msg, &packet2); 03508 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03509 03510 memset(&packet2, 0, sizeof(packet2)); 03511 mavlink_msg_vicon_position_estimate_pack(system_id, component_id, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw ); 03512 mavlink_msg_vicon_position_estimate_decode(&msg, &packet2); 03513 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03514 03515 memset(&packet2, 0, sizeof(packet2)); 03516 mavlink_msg_vicon_position_estimate_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw ); 03517 mavlink_msg_vicon_position_estimate_decode(&msg, &packet2); 03518 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03519 03520 memset(&packet2, 0, sizeof(packet2)); 03521 mavlink_msg_to_send_buffer(buffer, &msg); 03522 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 03523 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 03524 } 03525 mavlink_msg_vicon_position_estimate_decode(last_msg, &packet2); 03526 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03527 03528 memset(&packet2, 0, sizeof(packet2)); 03529 mavlink_msg_vicon_position_estimate_send(MAVLINK_COMM_1 , packet1.usec , packet1.x , packet1.y , packet1.z , packet1.roll , packet1.pitch , packet1.yaw ); 03530 mavlink_msg_vicon_position_estimate_decode(last_msg, &packet2); 03531 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03532 } 03533 03534 static void mavlink_test_highres_imu(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 03535 { 03536 mavlink_message_t msg; 03537 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 03538 uint16_t i; 03539 mavlink_highres_imu_t packet_in = { 03540 93372036854775807ULL,73.0,101.0,129.0,157.0,185.0,213.0,241.0,269.0,297.0,325.0,353.0,381.0,409.0,20355 03541 }; 03542 mavlink_highres_imu_t packet1, packet2; 03543 memset(&packet1, 0, sizeof(packet1)); 03544 packet1.time_usec = packet_in.time_usec; 03545 packet1.xacc = packet_in.xacc; 03546 packet1.yacc = packet_in.yacc; 03547 packet1.zacc = packet_in.zacc; 03548 packet1.xgyro = packet_in.xgyro; 03549 packet1.ygyro = packet_in.ygyro; 03550 packet1.zgyro = packet_in.zgyro; 03551 packet1.xmag = packet_in.xmag; 03552 packet1.ymag = packet_in.ymag; 03553 packet1.zmag = packet_in.zmag; 03554 packet1.abs_pressure = packet_in.abs_pressure; 03555 packet1.diff_pressure = packet_in.diff_pressure; 03556 packet1.pressure_alt = packet_in.pressure_alt; 03557 packet1.temperature = packet_in.temperature; 03558 packet1.fields_updated = packet_in.fields_updated; 03559 03560 03561 03562 memset(&packet2, 0, sizeof(packet2)); 03563 mavlink_msg_highres_imu_encode(system_id, component_id, &msg, &packet1); 03564 mavlink_msg_highres_imu_decode(&msg, &packet2); 03565 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03566 03567 memset(&packet2, 0, sizeof(packet2)); 03568 mavlink_msg_highres_imu_pack(system_id, component_id, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature , packet1.fields_updated ); 03569 mavlink_msg_highres_imu_decode(&msg, &packet2); 03570 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03571 03572 memset(&packet2, 0, sizeof(packet2)); 03573 mavlink_msg_highres_imu_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature , packet1.fields_updated ); 03574 mavlink_msg_highres_imu_decode(&msg, &packet2); 03575 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03576 03577 memset(&packet2, 0, sizeof(packet2)); 03578 mavlink_msg_to_send_buffer(buffer, &msg); 03579 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 03580 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 03581 } 03582 mavlink_msg_highres_imu_decode(last_msg, &packet2); 03583 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03584 03585 memset(&packet2, 0, sizeof(packet2)); 03586 mavlink_msg_highres_imu_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature , packet1.fields_updated ); 03587 mavlink_msg_highres_imu_decode(last_msg, &packet2); 03588 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03589 } 03590 03591 static void mavlink_test_optical_flow_rad(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 03592 { 03593 mavlink_message_t msg; 03594 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 03595 uint16_t i; 03596 mavlink_optical_flow_rad_t packet_in = { 03597 93372036854775807ULL,963497880,101.0,129.0,157.0,185.0,213.0,963499128,269.0,19315,3,70 03598 }; 03599 mavlink_optical_flow_rad_t packet1, packet2; 03600 memset(&packet1, 0, sizeof(packet1)); 03601 packet1.time_usec = packet_in.time_usec; 03602 packet1.integration_time_us = packet_in.integration_time_us; 03603 packet1.integrated_x = packet_in.integrated_x; 03604 packet1.integrated_y = packet_in.integrated_y; 03605 packet1.integrated_xgyro = packet_in.integrated_xgyro; 03606 packet1.integrated_ygyro = packet_in.integrated_ygyro; 03607 packet1.integrated_zgyro = packet_in.integrated_zgyro; 03608 packet1.time_delta_distance_us = packet_in.time_delta_distance_us; 03609 packet1.distance = packet_in.distance; 03610 packet1.temperature = packet_in.temperature; 03611 packet1.sensor_id = packet_in.sensor_id; 03612 packet1.quality = packet_in.quality; 03613 03614 03615 03616 memset(&packet2, 0, sizeof(packet2)); 03617 mavlink_msg_optical_flow_rad_encode(system_id, component_id, &msg, &packet1); 03618 mavlink_msg_optical_flow_rad_decode(&msg, &packet2); 03619 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03620 03621 memset(&packet2, 0, sizeof(packet2)); 03622 mavlink_msg_optical_flow_rad_pack(system_id, component_id, &msg , packet1.time_usec , packet1.sensor_id , packet1.integration_time_us , packet1.integrated_x , packet1.integrated_y , packet1.integrated_xgyro , packet1.integrated_ygyro , packet1.integrated_zgyro , packet1.temperature , packet1.quality , packet1.time_delta_distance_us , packet1.distance ); 03623 mavlink_msg_optical_flow_rad_decode(&msg, &packet2); 03624 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03625 03626 memset(&packet2, 0, sizeof(packet2)); 03627 mavlink_msg_optical_flow_rad_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.sensor_id , packet1.integration_time_us , packet1.integrated_x , packet1.integrated_y , packet1.integrated_xgyro , packet1.integrated_ygyro , packet1.integrated_zgyro , packet1.temperature , packet1.quality , packet1.time_delta_distance_us , packet1.distance ); 03628 mavlink_msg_optical_flow_rad_decode(&msg, &packet2); 03629 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03630 03631 memset(&packet2, 0, sizeof(packet2)); 03632 mavlink_msg_to_send_buffer(buffer, &msg); 03633 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 03634 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 03635 } 03636 mavlink_msg_optical_flow_rad_decode(last_msg, &packet2); 03637 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03638 03639 memset(&packet2, 0, sizeof(packet2)); 03640 mavlink_msg_optical_flow_rad_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.sensor_id , packet1.integration_time_us , packet1.integrated_x , packet1.integrated_y , packet1.integrated_xgyro , packet1.integrated_ygyro , packet1.integrated_zgyro , packet1.temperature , packet1.quality , packet1.time_delta_distance_us , packet1.distance ); 03641 mavlink_msg_optical_flow_rad_decode(last_msg, &packet2); 03642 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03643 } 03644 03645 static void mavlink_test_hil_sensor(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 03646 { 03647 mavlink_message_t msg; 03648 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 03649 uint16_t i; 03650 mavlink_hil_sensor_t packet_in = { 03651 93372036854775807ULL,73.0,101.0,129.0,157.0,185.0,213.0,241.0,269.0,297.0,325.0,353.0,381.0,409.0,963500584 03652 }; 03653 mavlink_hil_sensor_t packet1, packet2; 03654 memset(&packet1, 0, sizeof(packet1)); 03655 packet1.time_usec = packet_in.time_usec; 03656 packet1.xacc = packet_in.xacc; 03657 packet1.yacc = packet_in.yacc; 03658 packet1.zacc = packet_in.zacc; 03659 packet1.xgyro = packet_in.xgyro; 03660 packet1.ygyro = packet_in.ygyro; 03661 packet1.zgyro = packet_in.zgyro; 03662 packet1.xmag = packet_in.xmag; 03663 packet1.ymag = packet_in.ymag; 03664 packet1.zmag = packet_in.zmag; 03665 packet1.abs_pressure = packet_in.abs_pressure; 03666 packet1.diff_pressure = packet_in.diff_pressure; 03667 packet1.pressure_alt = packet_in.pressure_alt; 03668 packet1.temperature = packet_in.temperature; 03669 packet1.fields_updated = packet_in.fields_updated; 03670 03671 03672 03673 memset(&packet2, 0, sizeof(packet2)); 03674 mavlink_msg_hil_sensor_encode(system_id, component_id, &msg, &packet1); 03675 mavlink_msg_hil_sensor_decode(&msg, &packet2); 03676 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03677 03678 memset(&packet2, 0, sizeof(packet2)); 03679 mavlink_msg_hil_sensor_pack(system_id, component_id, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature , packet1.fields_updated ); 03680 mavlink_msg_hil_sensor_decode(&msg, &packet2); 03681 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03682 03683 memset(&packet2, 0, sizeof(packet2)); 03684 mavlink_msg_hil_sensor_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature , packet1.fields_updated ); 03685 mavlink_msg_hil_sensor_decode(&msg, &packet2); 03686 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03687 03688 memset(&packet2, 0, sizeof(packet2)); 03689 mavlink_msg_to_send_buffer(buffer, &msg); 03690 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 03691 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 03692 } 03693 mavlink_msg_hil_sensor_decode(last_msg, &packet2); 03694 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03695 03696 memset(&packet2, 0, sizeof(packet2)); 03697 mavlink_msg_hil_sensor_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag , packet1.abs_pressure , packet1.diff_pressure , packet1.pressure_alt , packet1.temperature , packet1.fields_updated ); 03698 mavlink_msg_hil_sensor_decode(last_msg, &packet2); 03699 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03700 } 03701 03702 static void mavlink_test_sim_state(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 03703 { 03704 mavlink_message_t msg; 03705 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 03706 uint16_t i; 03707 mavlink_sim_state_t packet_in = { 03708 17.0,45.0,73.0,101.0,129.0,157.0,185.0,213.0,241.0,269.0,297.0,325.0,353.0,381.0,409.0,437.0,465.0,493.0,521.0,549.0,577.0 03709 }; 03710 mavlink_sim_state_t packet1, packet2; 03711 memset(&packet1, 0, sizeof(packet1)); 03712 packet1.q1 = packet_in.q1; 03713 packet1.q2 = packet_in.q2; 03714 packet1.q3 = packet_in.q3; 03715 packet1.q4 = packet_in.q4; 03716 packet1.roll = packet_in.roll; 03717 packet1.pitch = packet_in.pitch; 03718 packet1.yaw = packet_in.yaw; 03719 packet1.xacc = packet_in.xacc; 03720 packet1.yacc = packet_in.yacc; 03721 packet1.zacc = packet_in.zacc; 03722 packet1.xgyro = packet_in.xgyro; 03723 packet1.ygyro = packet_in.ygyro; 03724 packet1.zgyro = packet_in.zgyro; 03725 packet1.lat = packet_in.lat; 03726 packet1.lon = packet_in.lon; 03727 packet1.alt = packet_in.alt; 03728 packet1.std_dev_horz = packet_in.std_dev_horz; 03729 packet1.std_dev_vert = packet_in.std_dev_vert; 03730 packet1.vn = packet_in.vn; 03731 packet1.ve = packet_in.ve; 03732 packet1.vd = packet_in.vd; 03733 03734 03735 03736 memset(&packet2, 0, sizeof(packet2)); 03737 mavlink_msg_sim_state_encode(system_id, component_id, &msg, &packet1); 03738 mavlink_msg_sim_state_decode(&msg, &packet2); 03739 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03740 03741 memset(&packet2, 0, sizeof(packet2)); 03742 mavlink_msg_sim_state_pack(system_id, component_id, &msg , packet1.q1 , packet1.q2 , packet1.q3 , packet1.q4 , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.lat , packet1.lon , packet1.alt , packet1.std_dev_horz , packet1.std_dev_vert , packet1.vn , packet1.ve , packet1.vd ); 03743 mavlink_msg_sim_state_decode(&msg, &packet2); 03744 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03745 03746 memset(&packet2, 0, sizeof(packet2)); 03747 mavlink_msg_sim_state_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.q1 , packet1.q2 , packet1.q3 , packet1.q4 , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.lat , packet1.lon , packet1.alt , packet1.std_dev_horz , packet1.std_dev_vert , packet1.vn , packet1.ve , packet1.vd ); 03748 mavlink_msg_sim_state_decode(&msg, &packet2); 03749 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03750 03751 memset(&packet2, 0, sizeof(packet2)); 03752 mavlink_msg_to_send_buffer(buffer, &msg); 03753 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 03754 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 03755 } 03756 mavlink_msg_sim_state_decode(last_msg, &packet2); 03757 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03758 03759 memset(&packet2, 0, sizeof(packet2)); 03760 mavlink_msg_sim_state_send(MAVLINK_COMM_1 , packet1.q1 , packet1.q2 , packet1.q3 , packet1.q4 , packet1.roll , packet1.pitch , packet1.yaw , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.lat , packet1.lon , packet1.alt , packet1.std_dev_horz , packet1.std_dev_vert , packet1.vn , packet1.ve , packet1.vd ); 03761 mavlink_msg_sim_state_decode(last_msg, &packet2); 03762 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03763 } 03764 03765 static void mavlink_test_radio_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 03766 { 03767 mavlink_message_t msg; 03768 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 03769 uint16_t i; 03770 mavlink_radio_status_t packet_in = { 03771 17235,17339,17,84,151,218,29 03772 }; 03773 mavlink_radio_status_t packet1, packet2; 03774 memset(&packet1, 0, sizeof(packet1)); 03775 packet1.rxerrors = packet_in.rxerrors; 03776 packet1.fixed = packet_in.fixed; 03777 packet1.rssi = packet_in.rssi; 03778 packet1.remrssi = packet_in.remrssi; 03779 packet1.txbuf = packet_in.txbuf; 03780 packet1.noise = packet_in.noise; 03781 packet1.remnoise = packet_in.remnoise; 03782 03783 03784 03785 memset(&packet2, 0, sizeof(packet2)); 03786 mavlink_msg_radio_status_encode(system_id, component_id, &msg, &packet1); 03787 mavlink_msg_radio_status_decode(&msg, &packet2); 03788 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03789 03790 memset(&packet2, 0, sizeof(packet2)); 03791 mavlink_msg_radio_status_pack(system_id, component_id, &msg , packet1.rssi , packet1.remrssi , packet1.txbuf , packet1.noise , packet1.remnoise , packet1.rxerrors , packet1.fixed ); 03792 mavlink_msg_radio_status_decode(&msg, &packet2); 03793 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03794 03795 memset(&packet2, 0, sizeof(packet2)); 03796 mavlink_msg_radio_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.rssi , packet1.remrssi , packet1.txbuf , packet1.noise , packet1.remnoise , packet1.rxerrors , packet1.fixed ); 03797 mavlink_msg_radio_status_decode(&msg, &packet2); 03798 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03799 03800 memset(&packet2, 0, sizeof(packet2)); 03801 mavlink_msg_to_send_buffer(buffer, &msg); 03802 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 03803 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 03804 } 03805 mavlink_msg_radio_status_decode(last_msg, &packet2); 03806 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03807 03808 memset(&packet2, 0, sizeof(packet2)); 03809 mavlink_msg_radio_status_send(MAVLINK_COMM_1 , packet1.rssi , packet1.remrssi , packet1.txbuf , packet1.noise , packet1.remnoise , packet1.rxerrors , packet1.fixed ); 03810 mavlink_msg_radio_status_decode(last_msg, &packet2); 03811 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03812 } 03813 03814 static void mavlink_test_file_transfer_protocol(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 03815 { 03816 mavlink_message_t msg; 03817 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 03818 uint16_t i; 03819 mavlink_file_transfer_protocol_t packet_in = { 03820 5,72,139,{ 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200 } 03821 }; 03822 mavlink_file_transfer_protocol_t packet1, packet2; 03823 memset(&packet1, 0, sizeof(packet1)); 03824 packet1.target_network = packet_in.target_network; 03825 packet1.target_system = packet_in.target_system; 03826 packet1.target_component = packet_in.target_component; 03827 03828 mav_array_memcpy(packet1.payload, packet_in.payload, sizeof(uint8_t)*251); 03829 03830 03831 memset(&packet2, 0, sizeof(packet2)); 03832 mavlink_msg_file_transfer_protocol_encode(system_id, component_id, &msg, &packet1); 03833 mavlink_msg_file_transfer_protocol_decode(&msg, &packet2); 03834 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03835 03836 memset(&packet2, 0, sizeof(packet2)); 03837 mavlink_msg_file_transfer_protocol_pack(system_id, component_id, &msg , packet1.target_network , packet1.target_system , packet1.target_component , packet1.payload ); 03838 mavlink_msg_file_transfer_protocol_decode(&msg, &packet2); 03839 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03840 03841 memset(&packet2, 0, sizeof(packet2)); 03842 mavlink_msg_file_transfer_protocol_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_network , packet1.target_system , packet1.target_component , packet1.payload ); 03843 mavlink_msg_file_transfer_protocol_decode(&msg, &packet2); 03844 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03845 03846 memset(&packet2, 0, sizeof(packet2)); 03847 mavlink_msg_to_send_buffer(buffer, &msg); 03848 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 03849 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 03850 } 03851 mavlink_msg_file_transfer_protocol_decode(last_msg, &packet2); 03852 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03853 03854 memset(&packet2, 0, sizeof(packet2)); 03855 mavlink_msg_file_transfer_protocol_send(MAVLINK_COMM_1 , packet1.target_network , packet1.target_system , packet1.target_component , packet1.payload ); 03856 mavlink_msg_file_transfer_protocol_decode(last_msg, &packet2); 03857 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03858 } 03859 03860 static void mavlink_test_timesync(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 03861 { 03862 mavlink_message_t msg; 03863 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 03864 uint16_t i; 03865 mavlink_timesync_t packet_in = { 03866 93372036854775807LL,93372036854776311LL 03867 }; 03868 mavlink_timesync_t packet1, packet2; 03869 memset(&packet1, 0, sizeof(packet1)); 03870 packet1.tc1 = packet_in.tc1; 03871 packet1.ts1 = packet_in.ts1; 03872 03873 03874 03875 memset(&packet2, 0, sizeof(packet2)); 03876 mavlink_msg_timesync_encode(system_id, component_id, &msg, &packet1); 03877 mavlink_msg_timesync_decode(&msg, &packet2); 03878 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03879 03880 memset(&packet2, 0, sizeof(packet2)); 03881 mavlink_msg_timesync_pack(system_id, component_id, &msg , packet1.tc1 , packet1.ts1 ); 03882 mavlink_msg_timesync_decode(&msg, &packet2); 03883 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03884 03885 memset(&packet2, 0, sizeof(packet2)); 03886 mavlink_msg_timesync_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.tc1 , packet1.ts1 ); 03887 mavlink_msg_timesync_decode(&msg, &packet2); 03888 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03889 03890 memset(&packet2, 0, sizeof(packet2)); 03891 mavlink_msg_to_send_buffer(buffer, &msg); 03892 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 03893 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 03894 } 03895 mavlink_msg_timesync_decode(last_msg, &packet2); 03896 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03897 03898 memset(&packet2, 0, sizeof(packet2)); 03899 mavlink_msg_timesync_send(MAVLINK_COMM_1 , packet1.tc1 , packet1.ts1 ); 03900 mavlink_msg_timesync_decode(last_msg, &packet2); 03901 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03902 } 03903 03904 static void mavlink_test_camera_trigger(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 03905 { 03906 mavlink_message_t msg; 03907 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 03908 uint16_t i; 03909 mavlink_camera_trigger_t packet_in = { 03910 93372036854775807ULL,963497880 03911 }; 03912 mavlink_camera_trigger_t packet1, packet2; 03913 memset(&packet1, 0, sizeof(packet1)); 03914 packet1.time_usec = packet_in.time_usec; 03915 packet1.seq = packet_in.seq; 03916 03917 03918 03919 memset(&packet2, 0, sizeof(packet2)); 03920 mavlink_msg_camera_trigger_encode(system_id, component_id, &msg, &packet1); 03921 mavlink_msg_camera_trigger_decode(&msg, &packet2); 03922 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03923 03924 memset(&packet2, 0, sizeof(packet2)); 03925 mavlink_msg_camera_trigger_pack(system_id, component_id, &msg , packet1.time_usec , packet1.seq ); 03926 mavlink_msg_camera_trigger_decode(&msg, &packet2); 03927 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03928 03929 memset(&packet2, 0, sizeof(packet2)); 03930 mavlink_msg_camera_trigger_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.seq ); 03931 mavlink_msg_camera_trigger_decode(&msg, &packet2); 03932 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03933 03934 memset(&packet2, 0, sizeof(packet2)); 03935 mavlink_msg_to_send_buffer(buffer, &msg); 03936 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 03937 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 03938 } 03939 mavlink_msg_camera_trigger_decode(last_msg, &packet2); 03940 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03941 03942 memset(&packet2, 0, sizeof(packet2)); 03943 mavlink_msg_camera_trigger_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.seq ); 03944 mavlink_msg_camera_trigger_decode(last_msg, &packet2); 03945 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03946 } 03947 03948 static void mavlink_test_hil_gps(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 03949 { 03950 mavlink_message_t msg; 03951 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 03952 uint16_t i; 03953 mavlink_hil_gps_t packet_in = { 03954 93372036854775807ULL,963497880,963498088,963498296,18275,18379,18483,18587,18691,18795,18899,235,46 03955 }; 03956 mavlink_hil_gps_t packet1, packet2; 03957 memset(&packet1, 0, sizeof(packet1)); 03958 packet1.time_usec = packet_in.time_usec; 03959 packet1.lat = packet_in.lat; 03960 packet1.lon = packet_in.lon; 03961 packet1.alt = packet_in.alt; 03962 packet1.eph = packet_in.eph; 03963 packet1.epv = packet_in.epv; 03964 packet1.vel = packet_in.vel; 03965 packet1.vn = packet_in.vn; 03966 packet1.ve = packet_in.ve; 03967 packet1.vd = packet_in.vd; 03968 packet1.cog = packet_in.cog; 03969 packet1.fix_type = packet_in.fix_type; 03970 packet1.satellites_visible = packet_in.satellites_visible; 03971 03972 03973 03974 memset(&packet2, 0, sizeof(packet2)); 03975 mavlink_msg_hil_gps_encode(system_id, component_id, &msg, &packet1); 03976 mavlink_msg_hil_gps_decode(&msg, &packet2); 03977 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03978 03979 memset(&packet2, 0, sizeof(packet2)); 03980 mavlink_msg_hil_gps_pack(system_id, component_id, &msg , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.vn , packet1.ve , packet1.vd , packet1.cog , packet1.satellites_visible ); 03981 mavlink_msg_hil_gps_decode(&msg, &packet2); 03982 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03983 03984 memset(&packet2, 0, sizeof(packet2)); 03985 mavlink_msg_hil_gps_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.vn , packet1.ve , packet1.vd , packet1.cog , packet1.satellites_visible ); 03986 mavlink_msg_hil_gps_decode(&msg, &packet2); 03987 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03988 03989 memset(&packet2, 0, sizeof(packet2)); 03990 mavlink_msg_to_send_buffer(buffer, &msg); 03991 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 03992 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 03993 } 03994 mavlink_msg_hil_gps_decode(last_msg, &packet2); 03995 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 03996 03997 memset(&packet2, 0, sizeof(packet2)); 03998 mavlink_msg_hil_gps_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.vn , packet1.ve , packet1.vd , packet1.cog , packet1.satellites_visible ); 03999 mavlink_msg_hil_gps_decode(last_msg, &packet2); 04000 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04001 } 04002 04003 static void mavlink_test_hil_optical_flow(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 04004 { 04005 mavlink_message_t msg; 04006 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 04007 uint16_t i; 04008 mavlink_hil_optical_flow_t packet_in = { 04009 93372036854775807ULL,963497880,101.0,129.0,157.0,185.0,213.0,963499128,269.0,19315,3,70 04010 }; 04011 mavlink_hil_optical_flow_t packet1, packet2; 04012 memset(&packet1, 0, sizeof(packet1)); 04013 packet1.time_usec = packet_in.time_usec; 04014 packet1.integration_time_us = packet_in.integration_time_us; 04015 packet1.integrated_x = packet_in.integrated_x; 04016 packet1.integrated_y = packet_in.integrated_y; 04017 packet1.integrated_xgyro = packet_in.integrated_xgyro; 04018 packet1.integrated_ygyro = packet_in.integrated_ygyro; 04019 packet1.integrated_zgyro = packet_in.integrated_zgyro; 04020 packet1.time_delta_distance_us = packet_in.time_delta_distance_us; 04021 packet1.distance = packet_in.distance; 04022 packet1.temperature = packet_in.temperature; 04023 packet1.sensor_id = packet_in.sensor_id; 04024 packet1.quality = packet_in.quality; 04025 04026 04027 04028 memset(&packet2, 0, sizeof(packet2)); 04029 mavlink_msg_hil_optical_flow_encode(system_id, component_id, &msg, &packet1); 04030 mavlink_msg_hil_optical_flow_decode(&msg, &packet2); 04031 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04032 04033 memset(&packet2, 0, sizeof(packet2)); 04034 mavlink_msg_hil_optical_flow_pack(system_id, component_id, &msg , packet1.time_usec , packet1.sensor_id , packet1.integration_time_us , packet1.integrated_x , packet1.integrated_y , packet1.integrated_xgyro , packet1.integrated_ygyro , packet1.integrated_zgyro , packet1.temperature , packet1.quality , packet1.time_delta_distance_us , packet1.distance ); 04035 mavlink_msg_hil_optical_flow_decode(&msg, &packet2); 04036 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04037 04038 memset(&packet2, 0, sizeof(packet2)); 04039 mavlink_msg_hil_optical_flow_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.sensor_id , packet1.integration_time_us , packet1.integrated_x , packet1.integrated_y , packet1.integrated_xgyro , packet1.integrated_ygyro , packet1.integrated_zgyro , packet1.temperature , packet1.quality , packet1.time_delta_distance_us , packet1.distance ); 04040 mavlink_msg_hil_optical_flow_decode(&msg, &packet2); 04041 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04042 04043 memset(&packet2, 0, sizeof(packet2)); 04044 mavlink_msg_to_send_buffer(buffer, &msg); 04045 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 04046 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 04047 } 04048 mavlink_msg_hil_optical_flow_decode(last_msg, &packet2); 04049 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04050 04051 memset(&packet2, 0, sizeof(packet2)); 04052 mavlink_msg_hil_optical_flow_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.sensor_id , packet1.integration_time_us , packet1.integrated_x , packet1.integrated_y , packet1.integrated_xgyro , packet1.integrated_ygyro , packet1.integrated_zgyro , packet1.temperature , packet1.quality , packet1.time_delta_distance_us , packet1.distance ); 04053 mavlink_msg_hil_optical_flow_decode(last_msg, &packet2); 04054 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04055 } 04056 04057 static void mavlink_test_hil_state_quaternion(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 04058 { 04059 mavlink_message_t msg; 04060 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 04061 uint16_t i; 04062 mavlink_hil_state_quaternion_t packet_in = { 04063 93372036854775807ULL,{ 73.0, 74.0, 75.0, 76.0 },185.0,213.0,241.0,963499336,963499544,963499752,19731,19835,19939,20043,20147,20251,20355,20459 04064 }; 04065 mavlink_hil_state_quaternion_t packet1, packet2; 04066 memset(&packet1, 0, sizeof(packet1)); 04067 packet1.time_usec = packet_in.time_usec; 04068 packet1.rollspeed = packet_in.rollspeed; 04069 packet1.pitchspeed = packet_in.pitchspeed; 04070 packet1.yawspeed = packet_in.yawspeed; 04071 packet1.lat = packet_in.lat; 04072 packet1.lon = packet_in.lon; 04073 packet1.alt = packet_in.alt; 04074 packet1.vx = packet_in.vx; 04075 packet1.vy = packet_in.vy; 04076 packet1.vz = packet_in.vz; 04077 packet1.ind_airspeed = packet_in.ind_airspeed; 04078 packet1.true_airspeed = packet_in.true_airspeed; 04079 packet1.xacc = packet_in.xacc; 04080 packet1.yacc = packet_in.yacc; 04081 packet1.zacc = packet_in.zacc; 04082 04083 mav_array_memcpy(packet1.attitude_quaternion, packet_in.attitude_quaternion, sizeof(float)*4); 04084 04085 04086 memset(&packet2, 0, sizeof(packet2)); 04087 mavlink_msg_hil_state_quaternion_encode(system_id, component_id, &msg, &packet1); 04088 mavlink_msg_hil_state_quaternion_decode(&msg, &packet2); 04089 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04090 04091 memset(&packet2, 0, sizeof(packet2)); 04092 mavlink_msg_hil_state_quaternion_pack(system_id, component_id, &msg , packet1.time_usec , packet1.attitude_quaternion , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.ind_airspeed , packet1.true_airspeed , packet1.xacc , packet1.yacc , packet1.zacc ); 04093 mavlink_msg_hil_state_quaternion_decode(&msg, &packet2); 04094 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04095 04096 memset(&packet2, 0, sizeof(packet2)); 04097 mavlink_msg_hil_state_quaternion_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.attitude_quaternion , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.ind_airspeed , packet1.true_airspeed , packet1.xacc , packet1.yacc , packet1.zacc ); 04098 mavlink_msg_hil_state_quaternion_decode(&msg, &packet2); 04099 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04100 04101 memset(&packet2, 0, sizeof(packet2)); 04102 mavlink_msg_to_send_buffer(buffer, &msg); 04103 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 04104 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 04105 } 04106 mavlink_msg_hil_state_quaternion_decode(last_msg, &packet2); 04107 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04108 04109 memset(&packet2, 0, sizeof(packet2)); 04110 mavlink_msg_hil_state_quaternion_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.attitude_quaternion , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed , packet1.lat , packet1.lon , packet1.alt , packet1.vx , packet1.vy , packet1.vz , packet1.ind_airspeed , packet1.true_airspeed , packet1.xacc , packet1.yacc , packet1.zacc ); 04111 mavlink_msg_hil_state_quaternion_decode(last_msg, &packet2); 04112 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04113 } 04114 04115 static void mavlink_test_scaled_imu2(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 04116 { 04117 mavlink_message_t msg; 04118 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 04119 uint16_t i; 04120 mavlink_scaled_imu2_t packet_in = { 04121 963497464,17443,17547,17651,17755,17859,17963,18067,18171,18275 04122 }; 04123 mavlink_scaled_imu2_t packet1, packet2; 04124 memset(&packet1, 0, sizeof(packet1)); 04125 packet1.time_boot_ms = packet_in.time_boot_ms; 04126 packet1.xacc = packet_in.xacc; 04127 packet1.yacc = packet_in.yacc; 04128 packet1.zacc = packet_in.zacc; 04129 packet1.xgyro = packet_in.xgyro; 04130 packet1.ygyro = packet_in.ygyro; 04131 packet1.zgyro = packet_in.zgyro; 04132 packet1.xmag = packet_in.xmag; 04133 packet1.ymag = packet_in.ymag; 04134 packet1.zmag = packet_in.zmag; 04135 04136 04137 04138 memset(&packet2, 0, sizeof(packet2)); 04139 mavlink_msg_scaled_imu2_encode(system_id, component_id, &msg, &packet1); 04140 mavlink_msg_scaled_imu2_decode(&msg, &packet2); 04141 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04142 04143 memset(&packet2, 0, sizeof(packet2)); 04144 mavlink_msg_scaled_imu2_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag ); 04145 mavlink_msg_scaled_imu2_decode(&msg, &packet2); 04146 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04147 04148 memset(&packet2, 0, sizeof(packet2)); 04149 mavlink_msg_scaled_imu2_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag ); 04150 mavlink_msg_scaled_imu2_decode(&msg, &packet2); 04151 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04152 04153 memset(&packet2, 0, sizeof(packet2)); 04154 mavlink_msg_to_send_buffer(buffer, &msg); 04155 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 04156 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 04157 } 04158 mavlink_msg_scaled_imu2_decode(last_msg, &packet2); 04159 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04160 04161 memset(&packet2, 0, sizeof(packet2)); 04162 mavlink_msg_scaled_imu2_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag ); 04163 mavlink_msg_scaled_imu2_decode(last_msg, &packet2); 04164 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04165 } 04166 04167 static void mavlink_test_log_request_list(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 04168 { 04169 mavlink_message_t msg; 04170 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 04171 uint16_t i; 04172 mavlink_log_request_list_t packet_in = { 04173 17235,17339,17,84 04174 }; 04175 mavlink_log_request_list_t packet1, packet2; 04176 memset(&packet1, 0, sizeof(packet1)); 04177 packet1.start = packet_in.start; 04178 packet1.end = packet_in.end; 04179 packet1.target_system = packet_in.target_system; 04180 packet1.target_component = packet_in.target_component; 04181 04182 04183 04184 memset(&packet2, 0, sizeof(packet2)); 04185 mavlink_msg_log_request_list_encode(system_id, component_id, &msg, &packet1); 04186 mavlink_msg_log_request_list_decode(&msg, &packet2); 04187 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04188 04189 memset(&packet2, 0, sizeof(packet2)); 04190 mavlink_msg_log_request_list_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.start , packet1.end ); 04191 mavlink_msg_log_request_list_decode(&msg, &packet2); 04192 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04193 04194 memset(&packet2, 0, sizeof(packet2)); 04195 mavlink_msg_log_request_list_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.start , packet1.end ); 04196 mavlink_msg_log_request_list_decode(&msg, &packet2); 04197 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04198 04199 memset(&packet2, 0, sizeof(packet2)); 04200 mavlink_msg_to_send_buffer(buffer, &msg); 04201 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 04202 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 04203 } 04204 mavlink_msg_log_request_list_decode(last_msg, &packet2); 04205 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04206 04207 memset(&packet2, 0, sizeof(packet2)); 04208 mavlink_msg_log_request_list_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.start , packet1.end ); 04209 mavlink_msg_log_request_list_decode(last_msg, &packet2); 04210 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04211 } 04212 04213 static void mavlink_test_log_entry(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 04214 { 04215 mavlink_message_t msg; 04216 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 04217 uint16_t i; 04218 mavlink_log_entry_t packet_in = { 04219 963497464,963497672,17651,17755,17859 04220 }; 04221 mavlink_log_entry_t packet1, packet2; 04222 memset(&packet1, 0, sizeof(packet1)); 04223 packet1.time_utc = packet_in.time_utc; 04224 packet1.size = packet_in.size; 04225 packet1.id = packet_in.id; 04226 packet1.num_logs = packet_in.num_logs; 04227 packet1.last_log_num = packet_in.last_log_num; 04228 04229 04230 04231 memset(&packet2, 0, sizeof(packet2)); 04232 mavlink_msg_log_entry_encode(system_id, component_id, &msg, &packet1); 04233 mavlink_msg_log_entry_decode(&msg, &packet2); 04234 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04235 04236 memset(&packet2, 0, sizeof(packet2)); 04237 mavlink_msg_log_entry_pack(system_id, component_id, &msg , packet1.id , packet1.num_logs , packet1.last_log_num , packet1.time_utc , packet1.size ); 04238 mavlink_msg_log_entry_decode(&msg, &packet2); 04239 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04240 04241 memset(&packet2, 0, sizeof(packet2)); 04242 mavlink_msg_log_entry_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.id , packet1.num_logs , packet1.last_log_num , packet1.time_utc , packet1.size ); 04243 mavlink_msg_log_entry_decode(&msg, &packet2); 04244 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04245 04246 memset(&packet2, 0, sizeof(packet2)); 04247 mavlink_msg_to_send_buffer(buffer, &msg); 04248 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 04249 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 04250 } 04251 mavlink_msg_log_entry_decode(last_msg, &packet2); 04252 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04253 04254 memset(&packet2, 0, sizeof(packet2)); 04255 mavlink_msg_log_entry_send(MAVLINK_COMM_1 , packet1.id , packet1.num_logs , packet1.last_log_num , packet1.time_utc , packet1.size ); 04256 mavlink_msg_log_entry_decode(last_msg, &packet2); 04257 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04258 } 04259 04260 static void mavlink_test_log_request_data(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 04261 { 04262 mavlink_message_t msg; 04263 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 04264 uint16_t i; 04265 mavlink_log_request_data_t packet_in = { 04266 963497464,963497672,17651,163,230 04267 }; 04268 mavlink_log_request_data_t packet1, packet2; 04269 memset(&packet1, 0, sizeof(packet1)); 04270 packet1.ofs = packet_in.ofs; 04271 packet1.count = packet_in.count; 04272 packet1.id = packet_in.id; 04273 packet1.target_system = packet_in.target_system; 04274 packet1.target_component = packet_in.target_component; 04275 04276 04277 04278 memset(&packet2, 0, sizeof(packet2)); 04279 mavlink_msg_log_request_data_encode(system_id, component_id, &msg, &packet1); 04280 mavlink_msg_log_request_data_decode(&msg, &packet2); 04281 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04282 04283 memset(&packet2, 0, sizeof(packet2)); 04284 mavlink_msg_log_request_data_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.id , packet1.ofs , packet1.count ); 04285 mavlink_msg_log_request_data_decode(&msg, &packet2); 04286 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04287 04288 memset(&packet2, 0, sizeof(packet2)); 04289 mavlink_msg_log_request_data_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.id , packet1.ofs , packet1.count ); 04290 mavlink_msg_log_request_data_decode(&msg, &packet2); 04291 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04292 04293 memset(&packet2, 0, sizeof(packet2)); 04294 mavlink_msg_to_send_buffer(buffer, &msg); 04295 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 04296 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 04297 } 04298 mavlink_msg_log_request_data_decode(last_msg, &packet2); 04299 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04300 04301 memset(&packet2, 0, sizeof(packet2)); 04302 mavlink_msg_log_request_data_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.id , packet1.ofs , packet1.count ); 04303 mavlink_msg_log_request_data_decode(last_msg, &packet2); 04304 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04305 } 04306 04307 static void mavlink_test_log_data(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 04308 { 04309 mavlink_message_t msg; 04310 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 04311 uint16_t i; 04312 mavlink_log_data_t packet_in = { 04313 963497464,17443,151,{ 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51 } 04314 }; 04315 mavlink_log_data_t packet1, packet2; 04316 memset(&packet1, 0, sizeof(packet1)); 04317 packet1.ofs = packet_in.ofs; 04318 packet1.id = packet_in.id; 04319 packet1.count = packet_in.count; 04320 04321 mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*90); 04322 04323 04324 memset(&packet2, 0, sizeof(packet2)); 04325 mavlink_msg_log_data_encode(system_id, component_id, &msg, &packet1); 04326 mavlink_msg_log_data_decode(&msg, &packet2); 04327 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04328 04329 memset(&packet2, 0, sizeof(packet2)); 04330 mavlink_msg_log_data_pack(system_id, component_id, &msg , packet1.id , packet1.ofs , packet1.count , packet1.data ); 04331 mavlink_msg_log_data_decode(&msg, &packet2); 04332 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04333 04334 memset(&packet2, 0, sizeof(packet2)); 04335 mavlink_msg_log_data_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.id , packet1.ofs , packet1.count , packet1.data ); 04336 mavlink_msg_log_data_decode(&msg, &packet2); 04337 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04338 04339 memset(&packet2, 0, sizeof(packet2)); 04340 mavlink_msg_to_send_buffer(buffer, &msg); 04341 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 04342 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 04343 } 04344 mavlink_msg_log_data_decode(last_msg, &packet2); 04345 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04346 04347 memset(&packet2, 0, sizeof(packet2)); 04348 mavlink_msg_log_data_send(MAVLINK_COMM_1 , packet1.id , packet1.ofs , packet1.count , packet1.data ); 04349 mavlink_msg_log_data_decode(last_msg, &packet2); 04350 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04351 } 04352 04353 static void mavlink_test_log_erase(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 04354 { 04355 mavlink_message_t msg; 04356 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 04357 uint16_t i; 04358 mavlink_log_erase_t packet_in = { 04359 5,72 04360 }; 04361 mavlink_log_erase_t packet1, packet2; 04362 memset(&packet1, 0, sizeof(packet1)); 04363 packet1.target_system = packet_in.target_system; 04364 packet1.target_component = packet_in.target_component; 04365 04366 04367 04368 memset(&packet2, 0, sizeof(packet2)); 04369 mavlink_msg_log_erase_encode(system_id, component_id, &msg, &packet1); 04370 mavlink_msg_log_erase_decode(&msg, &packet2); 04371 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04372 04373 memset(&packet2, 0, sizeof(packet2)); 04374 mavlink_msg_log_erase_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component ); 04375 mavlink_msg_log_erase_decode(&msg, &packet2); 04376 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04377 04378 memset(&packet2, 0, sizeof(packet2)); 04379 mavlink_msg_log_erase_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component ); 04380 mavlink_msg_log_erase_decode(&msg, &packet2); 04381 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04382 04383 memset(&packet2, 0, sizeof(packet2)); 04384 mavlink_msg_to_send_buffer(buffer, &msg); 04385 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 04386 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 04387 } 04388 mavlink_msg_log_erase_decode(last_msg, &packet2); 04389 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04390 04391 memset(&packet2, 0, sizeof(packet2)); 04392 mavlink_msg_log_erase_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component ); 04393 mavlink_msg_log_erase_decode(last_msg, &packet2); 04394 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04395 } 04396 04397 static void mavlink_test_log_request_end(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 04398 { 04399 mavlink_message_t msg; 04400 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 04401 uint16_t i; 04402 mavlink_log_request_end_t packet_in = { 04403 5,72 04404 }; 04405 mavlink_log_request_end_t packet1, packet2; 04406 memset(&packet1, 0, sizeof(packet1)); 04407 packet1.target_system = packet_in.target_system; 04408 packet1.target_component = packet_in.target_component; 04409 04410 04411 04412 memset(&packet2, 0, sizeof(packet2)); 04413 mavlink_msg_log_request_end_encode(system_id, component_id, &msg, &packet1); 04414 mavlink_msg_log_request_end_decode(&msg, &packet2); 04415 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04416 04417 memset(&packet2, 0, sizeof(packet2)); 04418 mavlink_msg_log_request_end_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component ); 04419 mavlink_msg_log_request_end_decode(&msg, &packet2); 04420 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04421 04422 memset(&packet2, 0, sizeof(packet2)); 04423 mavlink_msg_log_request_end_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component ); 04424 mavlink_msg_log_request_end_decode(&msg, &packet2); 04425 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04426 04427 memset(&packet2, 0, sizeof(packet2)); 04428 mavlink_msg_to_send_buffer(buffer, &msg); 04429 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 04430 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 04431 } 04432 mavlink_msg_log_request_end_decode(last_msg, &packet2); 04433 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04434 04435 memset(&packet2, 0, sizeof(packet2)); 04436 mavlink_msg_log_request_end_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component ); 04437 mavlink_msg_log_request_end_decode(last_msg, &packet2); 04438 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04439 } 04440 04441 static void mavlink_test_gps_inject_data(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 04442 { 04443 mavlink_message_t msg; 04444 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 04445 uint16_t i; 04446 mavlink_gps_inject_data_t packet_in = { 04447 5,72,139,{ 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59 } 04448 }; 04449 mavlink_gps_inject_data_t packet1, packet2; 04450 memset(&packet1, 0, sizeof(packet1)); 04451 packet1.target_system = packet_in.target_system; 04452 packet1.target_component = packet_in.target_component; 04453 packet1.len = packet_in.len; 04454 04455 mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*110); 04456 04457 04458 memset(&packet2, 0, sizeof(packet2)); 04459 mavlink_msg_gps_inject_data_encode(system_id, component_id, &msg, &packet1); 04460 mavlink_msg_gps_inject_data_decode(&msg, &packet2); 04461 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04462 04463 memset(&packet2, 0, sizeof(packet2)); 04464 mavlink_msg_gps_inject_data_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.len , packet1.data ); 04465 mavlink_msg_gps_inject_data_decode(&msg, &packet2); 04466 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04467 04468 memset(&packet2, 0, sizeof(packet2)); 04469 mavlink_msg_gps_inject_data_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.target_component , packet1.len , packet1.data ); 04470 mavlink_msg_gps_inject_data_decode(&msg, &packet2); 04471 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04472 04473 memset(&packet2, 0, sizeof(packet2)); 04474 mavlink_msg_to_send_buffer(buffer, &msg); 04475 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 04476 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 04477 } 04478 mavlink_msg_gps_inject_data_decode(last_msg, &packet2); 04479 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04480 04481 memset(&packet2, 0, sizeof(packet2)); 04482 mavlink_msg_gps_inject_data_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.len , packet1.data ); 04483 mavlink_msg_gps_inject_data_decode(last_msg, &packet2); 04484 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04485 } 04486 04487 static void mavlink_test_gps2_raw(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 04488 { 04489 mavlink_message_t msg; 04490 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 04491 uint16_t i; 04492 mavlink_gps2_raw_t packet_in = { 04493 93372036854775807ULL,963497880,963498088,963498296,963498504,18483,18587,18691,18795,101,168,235 04494 }; 04495 mavlink_gps2_raw_t packet1, packet2; 04496 memset(&packet1, 0, sizeof(packet1)); 04497 packet1.time_usec = packet_in.time_usec; 04498 packet1.lat = packet_in.lat; 04499 packet1.lon = packet_in.lon; 04500 packet1.alt = packet_in.alt; 04501 packet1.dgps_age = packet_in.dgps_age; 04502 packet1.eph = packet_in.eph; 04503 packet1.epv = packet_in.epv; 04504 packet1.vel = packet_in.vel; 04505 packet1.cog = packet_in.cog; 04506 packet1.fix_type = packet_in.fix_type; 04507 packet1.satellites_visible = packet_in.satellites_visible; 04508 packet1.dgps_numch = packet_in.dgps_numch; 04509 04510 04511 04512 memset(&packet2, 0, sizeof(packet2)); 04513 mavlink_msg_gps2_raw_encode(system_id, component_id, &msg, &packet1); 04514 mavlink_msg_gps2_raw_decode(&msg, &packet2); 04515 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04516 04517 memset(&packet2, 0, sizeof(packet2)); 04518 mavlink_msg_gps2_raw_pack(system_id, component_id, &msg , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.cog , packet1.satellites_visible , packet1.dgps_numch , packet1.dgps_age ); 04519 mavlink_msg_gps2_raw_decode(&msg, &packet2); 04520 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04521 04522 memset(&packet2, 0, sizeof(packet2)); 04523 mavlink_msg_gps2_raw_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.cog , packet1.satellites_visible , packet1.dgps_numch , packet1.dgps_age ); 04524 mavlink_msg_gps2_raw_decode(&msg, &packet2); 04525 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04526 04527 memset(&packet2, 0, sizeof(packet2)); 04528 mavlink_msg_to_send_buffer(buffer, &msg); 04529 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 04530 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 04531 } 04532 mavlink_msg_gps2_raw_decode(last_msg, &packet2); 04533 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04534 04535 memset(&packet2, 0, sizeof(packet2)); 04536 mavlink_msg_gps2_raw_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.fix_type , packet1.lat , packet1.lon , packet1.alt , packet1.eph , packet1.epv , packet1.vel , packet1.cog , packet1.satellites_visible , packet1.dgps_numch , packet1.dgps_age ); 04537 mavlink_msg_gps2_raw_decode(last_msg, &packet2); 04538 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04539 } 04540 04541 static void mavlink_test_power_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 04542 { 04543 mavlink_message_t msg; 04544 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 04545 uint16_t i; 04546 mavlink_power_status_t packet_in = { 04547 17235,17339,17443 04548 }; 04549 mavlink_power_status_t packet1, packet2; 04550 memset(&packet1, 0, sizeof(packet1)); 04551 packet1.Vcc = packet_in.Vcc; 04552 packet1.Vservo = packet_in.Vservo; 04553 packet1.flags = packet_in.flags; 04554 04555 04556 04557 memset(&packet2, 0, sizeof(packet2)); 04558 mavlink_msg_power_status_encode(system_id, component_id, &msg, &packet1); 04559 mavlink_msg_power_status_decode(&msg, &packet2); 04560 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04561 04562 memset(&packet2, 0, sizeof(packet2)); 04563 mavlink_msg_power_status_pack(system_id, component_id, &msg , packet1.Vcc , packet1.Vservo , packet1.flags ); 04564 mavlink_msg_power_status_decode(&msg, &packet2); 04565 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04566 04567 memset(&packet2, 0, sizeof(packet2)); 04568 mavlink_msg_power_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.Vcc , packet1.Vservo , packet1.flags ); 04569 mavlink_msg_power_status_decode(&msg, &packet2); 04570 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04571 04572 memset(&packet2, 0, sizeof(packet2)); 04573 mavlink_msg_to_send_buffer(buffer, &msg); 04574 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 04575 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 04576 } 04577 mavlink_msg_power_status_decode(last_msg, &packet2); 04578 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04579 04580 memset(&packet2, 0, sizeof(packet2)); 04581 mavlink_msg_power_status_send(MAVLINK_COMM_1 , packet1.Vcc , packet1.Vservo , packet1.flags ); 04582 mavlink_msg_power_status_decode(last_msg, &packet2); 04583 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04584 } 04585 04586 static void mavlink_test_serial_control(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 04587 { 04588 mavlink_message_t msg; 04589 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 04590 uint16_t i; 04591 mavlink_serial_control_t packet_in = { 04592 963497464,17443,151,218,29,{ 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165 } 04593 }; 04594 mavlink_serial_control_t packet1, packet2; 04595 memset(&packet1, 0, sizeof(packet1)); 04596 packet1.baudrate = packet_in.baudrate; 04597 packet1.timeout = packet_in.timeout; 04598 packet1.device = packet_in.device; 04599 packet1.flags = packet_in.flags; 04600 packet1.count = packet_in.count; 04601 04602 mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*70); 04603 04604 04605 memset(&packet2, 0, sizeof(packet2)); 04606 mavlink_msg_serial_control_encode(system_id, component_id, &msg, &packet1); 04607 mavlink_msg_serial_control_decode(&msg, &packet2); 04608 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04609 04610 memset(&packet2, 0, sizeof(packet2)); 04611 mavlink_msg_serial_control_pack(system_id, component_id, &msg , packet1.device , packet1.flags , packet1.timeout , packet1.baudrate , packet1.count , packet1.data ); 04612 mavlink_msg_serial_control_decode(&msg, &packet2); 04613 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04614 04615 memset(&packet2, 0, sizeof(packet2)); 04616 mavlink_msg_serial_control_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.device , packet1.flags , packet1.timeout , packet1.baudrate , packet1.count , packet1.data ); 04617 mavlink_msg_serial_control_decode(&msg, &packet2); 04618 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04619 04620 memset(&packet2, 0, sizeof(packet2)); 04621 mavlink_msg_to_send_buffer(buffer, &msg); 04622 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 04623 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 04624 } 04625 mavlink_msg_serial_control_decode(last_msg, &packet2); 04626 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04627 04628 memset(&packet2, 0, sizeof(packet2)); 04629 mavlink_msg_serial_control_send(MAVLINK_COMM_1 , packet1.device , packet1.flags , packet1.timeout , packet1.baudrate , packet1.count , packet1.data ); 04630 mavlink_msg_serial_control_decode(last_msg, &packet2); 04631 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04632 } 04633 04634 static void mavlink_test_gps_rtk(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 04635 { 04636 mavlink_message_t msg; 04637 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 04638 uint16_t i; 04639 mavlink_gps_rtk_t packet_in = { 04640 963497464,963497672,963497880,963498088,963498296,963498504,963498712,18691,223,34,101,168,235 04641 }; 04642 mavlink_gps_rtk_t packet1, packet2; 04643 memset(&packet1, 0, sizeof(packet1)); 04644 packet1.time_last_baseline_ms = packet_in.time_last_baseline_ms; 04645 packet1.tow = packet_in.tow; 04646 packet1.baseline_a_mm = packet_in.baseline_a_mm; 04647 packet1.baseline_b_mm = packet_in.baseline_b_mm; 04648 packet1.baseline_c_mm = packet_in.baseline_c_mm; 04649 packet1.accuracy = packet_in.accuracy; 04650 packet1.iar_num_hypotheses = packet_in.iar_num_hypotheses; 04651 packet1.wn = packet_in.wn; 04652 packet1.rtk_receiver_id = packet_in.rtk_receiver_id; 04653 packet1.rtk_health = packet_in.rtk_health; 04654 packet1.rtk_rate = packet_in.rtk_rate; 04655 packet1.nsats = packet_in.nsats; 04656 packet1.baseline_coords_type = packet_in.baseline_coords_type; 04657 04658 04659 04660 memset(&packet2, 0, sizeof(packet2)); 04661 mavlink_msg_gps_rtk_encode(system_id, component_id, &msg, &packet1); 04662 mavlink_msg_gps_rtk_decode(&msg, &packet2); 04663 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04664 04665 memset(&packet2, 0, sizeof(packet2)); 04666 mavlink_msg_gps_rtk_pack(system_id, component_id, &msg , packet1.time_last_baseline_ms , packet1.rtk_receiver_id , packet1.wn , packet1.tow , packet1.rtk_health , packet1.rtk_rate , packet1.nsats , packet1.baseline_coords_type , packet1.baseline_a_mm , packet1.baseline_b_mm , packet1.baseline_c_mm , packet1.accuracy , packet1.iar_num_hypotheses ); 04667 mavlink_msg_gps_rtk_decode(&msg, &packet2); 04668 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04669 04670 memset(&packet2, 0, sizeof(packet2)); 04671 mavlink_msg_gps_rtk_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_last_baseline_ms , packet1.rtk_receiver_id , packet1.wn , packet1.tow , packet1.rtk_health , packet1.rtk_rate , packet1.nsats , packet1.baseline_coords_type , packet1.baseline_a_mm , packet1.baseline_b_mm , packet1.baseline_c_mm , packet1.accuracy , packet1.iar_num_hypotheses ); 04672 mavlink_msg_gps_rtk_decode(&msg, &packet2); 04673 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04674 04675 memset(&packet2, 0, sizeof(packet2)); 04676 mavlink_msg_to_send_buffer(buffer, &msg); 04677 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 04678 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 04679 } 04680 mavlink_msg_gps_rtk_decode(last_msg, &packet2); 04681 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04682 04683 memset(&packet2, 0, sizeof(packet2)); 04684 mavlink_msg_gps_rtk_send(MAVLINK_COMM_1 , packet1.time_last_baseline_ms , packet1.rtk_receiver_id , packet1.wn , packet1.tow , packet1.rtk_health , packet1.rtk_rate , packet1.nsats , packet1.baseline_coords_type , packet1.baseline_a_mm , packet1.baseline_b_mm , packet1.baseline_c_mm , packet1.accuracy , packet1.iar_num_hypotheses ); 04685 mavlink_msg_gps_rtk_decode(last_msg, &packet2); 04686 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04687 } 04688 04689 static void mavlink_test_gps2_rtk(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 04690 { 04691 mavlink_message_t msg; 04692 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 04693 uint16_t i; 04694 mavlink_gps2_rtk_t packet_in = { 04695 963497464,963497672,963497880,963498088,963498296,963498504,963498712,18691,223,34,101,168,235 04696 }; 04697 mavlink_gps2_rtk_t packet1, packet2; 04698 memset(&packet1, 0, sizeof(packet1)); 04699 packet1.time_last_baseline_ms = packet_in.time_last_baseline_ms; 04700 packet1.tow = packet_in.tow; 04701 packet1.baseline_a_mm = packet_in.baseline_a_mm; 04702 packet1.baseline_b_mm = packet_in.baseline_b_mm; 04703 packet1.baseline_c_mm = packet_in.baseline_c_mm; 04704 packet1.accuracy = packet_in.accuracy; 04705 packet1.iar_num_hypotheses = packet_in.iar_num_hypotheses; 04706 packet1.wn = packet_in.wn; 04707 packet1.rtk_receiver_id = packet_in.rtk_receiver_id; 04708 packet1.rtk_health = packet_in.rtk_health; 04709 packet1.rtk_rate = packet_in.rtk_rate; 04710 packet1.nsats = packet_in.nsats; 04711 packet1.baseline_coords_type = packet_in.baseline_coords_type; 04712 04713 04714 04715 memset(&packet2, 0, sizeof(packet2)); 04716 mavlink_msg_gps2_rtk_encode(system_id, component_id, &msg, &packet1); 04717 mavlink_msg_gps2_rtk_decode(&msg, &packet2); 04718 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04719 04720 memset(&packet2, 0, sizeof(packet2)); 04721 mavlink_msg_gps2_rtk_pack(system_id, component_id, &msg , packet1.time_last_baseline_ms , packet1.rtk_receiver_id , packet1.wn , packet1.tow , packet1.rtk_health , packet1.rtk_rate , packet1.nsats , packet1.baseline_coords_type , packet1.baseline_a_mm , packet1.baseline_b_mm , packet1.baseline_c_mm , packet1.accuracy , packet1.iar_num_hypotheses ); 04722 mavlink_msg_gps2_rtk_decode(&msg, &packet2); 04723 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04724 04725 memset(&packet2, 0, sizeof(packet2)); 04726 mavlink_msg_gps2_rtk_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_last_baseline_ms , packet1.rtk_receiver_id , packet1.wn , packet1.tow , packet1.rtk_health , packet1.rtk_rate , packet1.nsats , packet1.baseline_coords_type , packet1.baseline_a_mm , packet1.baseline_b_mm , packet1.baseline_c_mm , packet1.accuracy , packet1.iar_num_hypotheses ); 04727 mavlink_msg_gps2_rtk_decode(&msg, &packet2); 04728 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04729 04730 memset(&packet2, 0, sizeof(packet2)); 04731 mavlink_msg_to_send_buffer(buffer, &msg); 04732 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 04733 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 04734 } 04735 mavlink_msg_gps2_rtk_decode(last_msg, &packet2); 04736 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04737 04738 memset(&packet2, 0, sizeof(packet2)); 04739 mavlink_msg_gps2_rtk_send(MAVLINK_COMM_1 , packet1.time_last_baseline_ms , packet1.rtk_receiver_id , packet1.wn , packet1.tow , packet1.rtk_health , packet1.rtk_rate , packet1.nsats , packet1.baseline_coords_type , packet1.baseline_a_mm , packet1.baseline_b_mm , packet1.baseline_c_mm , packet1.accuracy , packet1.iar_num_hypotheses ); 04740 mavlink_msg_gps2_rtk_decode(last_msg, &packet2); 04741 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04742 } 04743 04744 static void mavlink_test_scaled_imu3(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 04745 { 04746 mavlink_message_t msg; 04747 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 04748 uint16_t i; 04749 mavlink_scaled_imu3_t packet_in = { 04750 963497464,17443,17547,17651,17755,17859,17963,18067,18171,18275 04751 }; 04752 mavlink_scaled_imu3_t packet1, packet2; 04753 memset(&packet1, 0, sizeof(packet1)); 04754 packet1.time_boot_ms = packet_in.time_boot_ms; 04755 packet1.xacc = packet_in.xacc; 04756 packet1.yacc = packet_in.yacc; 04757 packet1.zacc = packet_in.zacc; 04758 packet1.xgyro = packet_in.xgyro; 04759 packet1.ygyro = packet_in.ygyro; 04760 packet1.zgyro = packet_in.zgyro; 04761 packet1.xmag = packet_in.xmag; 04762 packet1.ymag = packet_in.ymag; 04763 packet1.zmag = packet_in.zmag; 04764 04765 04766 04767 memset(&packet2, 0, sizeof(packet2)); 04768 mavlink_msg_scaled_imu3_encode(system_id, component_id, &msg, &packet1); 04769 mavlink_msg_scaled_imu3_decode(&msg, &packet2); 04770 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04771 04772 memset(&packet2, 0, sizeof(packet2)); 04773 mavlink_msg_scaled_imu3_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag ); 04774 mavlink_msg_scaled_imu3_decode(&msg, &packet2); 04775 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04776 04777 memset(&packet2, 0, sizeof(packet2)); 04778 mavlink_msg_scaled_imu3_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag ); 04779 mavlink_msg_scaled_imu3_decode(&msg, &packet2); 04780 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04781 04782 memset(&packet2, 0, sizeof(packet2)); 04783 mavlink_msg_to_send_buffer(buffer, &msg); 04784 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 04785 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 04786 } 04787 mavlink_msg_scaled_imu3_decode(last_msg, &packet2); 04788 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04789 04790 memset(&packet2, 0, sizeof(packet2)); 04791 mavlink_msg_scaled_imu3_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.xacc , packet1.yacc , packet1.zacc , packet1.xgyro , packet1.ygyro , packet1.zgyro , packet1.xmag , packet1.ymag , packet1.zmag ); 04792 mavlink_msg_scaled_imu3_decode(last_msg, &packet2); 04793 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04794 } 04795 04796 static void mavlink_test_data_transmission_handshake(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 04797 { 04798 mavlink_message_t msg; 04799 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 04800 uint16_t i; 04801 mavlink_data_transmission_handshake_t packet_in = { 04802 963497464,17443,17547,17651,163,230,41 04803 }; 04804 mavlink_data_transmission_handshake_t packet1, packet2; 04805 memset(&packet1, 0, sizeof(packet1)); 04806 packet1.size = packet_in.size; 04807 packet1.width = packet_in.width; 04808 packet1.height = packet_in.height; 04809 packet1.packets = packet_in.packets; 04810 packet1.type = packet_in.type; 04811 packet1.payload = packet_in.payload; 04812 packet1.jpg_quality = packet_in.jpg_quality; 04813 04814 04815 04816 memset(&packet2, 0, sizeof(packet2)); 04817 mavlink_msg_data_transmission_handshake_encode(system_id, component_id, &msg, &packet1); 04818 mavlink_msg_data_transmission_handshake_decode(&msg, &packet2); 04819 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04820 04821 memset(&packet2, 0, sizeof(packet2)); 04822 mavlink_msg_data_transmission_handshake_pack(system_id, component_id, &msg , packet1.type , packet1.size , packet1.width , packet1.height , packet1.packets , packet1.payload , packet1.jpg_quality ); 04823 mavlink_msg_data_transmission_handshake_decode(&msg, &packet2); 04824 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04825 04826 memset(&packet2, 0, sizeof(packet2)); 04827 mavlink_msg_data_transmission_handshake_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.type , packet1.size , packet1.width , packet1.height , packet1.packets , packet1.payload , packet1.jpg_quality ); 04828 mavlink_msg_data_transmission_handshake_decode(&msg, &packet2); 04829 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04830 04831 memset(&packet2, 0, sizeof(packet2)); 04832 mavlink_msg_to_send_buffer(buffer, &msg); 04833 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 04834 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 04835 } 04836 mavlink_msg_data_transmission_handshake_decode(last_msg, &packet2); 04837 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04838 04839 memset(&packet2, 0, sizeof(packet2)); 04840 mavlink_msg_data_transmission_handshake_send(MAVLINK_COMM_1 , packet1.type , packet1.size , packet1.width , packet1.height , packet1.packets , packet1.payload , packet1.jpg_quality ); 04841 mavlink_msg_data_transmission_handshake_decode(last_msg, &packet2); 04842 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04843 } 04844 04845 static void mavlink_test_encapsulated_data(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 04846 { 04847 mavlink_message_t msg; 04848 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 04849 uint16_t i; 04850 mavlink_encapsulated_data_t packet_in = { 04851 17235,{ 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135 } 04852 }; 04853 mavlink_encapsulated_data_t packet1, packet2; 04854 memset(&packet1, 0, sizeof(packet1)); 04855 packet1.seqnr = packet_in.seqnr; 04856 04857 mav_array_memcpy(packet1.data, packet_in.data, sizeof(uint8_t)*253); 04858 04859 04860 memset(&packet2, 0, sizeof(packet2)); 04861 mavlink_msg_encapsulated_data_encode(system_id, component_id, &msg, &packet1); 04862 mavlink_msg_encapsulated_data_decode(&msg, &packet2); 04863 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04864 04865 memset(&packet2, 0, sizeof(packet2)); 04866 mavlink_msg_encapsulated_data_pack(system_id, component_id, &msg , packet1.seqnr , packet1.data ); 04867 mavlink_msg_encapsulated_data_decode(&msg, &packet2); 04868 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04869 04870 memset(&packet2, 0, sizeof(packet2)); 04871 mavlink_msg_encapsulated_data_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.seqnr , packet1.data ); 04872 mavlink_msg_encapsulated_data_decode(&msg, &packet2); 04873 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04874 04875 memset(&packet2, 0, sizeof(packet2)); 04876 mavlink_msg_to_send_buffer(buffer, &msg); 04877 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 04878 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 04879 } 04880 mavlink_msg_encapsulated_data_decode(last_msg, &packet2); 04881 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04882 04883 memset(&packet2, 0, sizeof(packet2)); 04884 mavlink_msg_encapsulated_data_send(MAVLINK_COMM_1 , packet1.seqnr , packet1.data ); 04885 mavlink_msg_encapsulated_data_decode(last_msg, &packet2); 04886 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04887 } 04888 04889 static void mavlink_test_distance_sensor(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 04890 { 04891 mavlink_message_t msg; 04892 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 04893 uint16_t i; 04894 mavlink_distance_sensor_t packet_in = { 04895 963497464,17443,17547,17651,163,230,41,108 04896 }; 04897 mavlink_distance_sensor_t packet1, packet2; 04898 memset(&packet1, 0, sizeof(packet1)); 04899 packet1.time_boot_ms = packet_in.time_boot_ms; 04900 packet1.min_distance = packet_in.min_distance; 04901 packet1.max_distance = packet_in.max_distance; 04902 packet1.current_distance = packet_in.current_distance; 04903 packet1.type = packet_in.type; 04904 packet1.id = packet_in.id; 04905 packet1.orientation = packet_in.orientation; 04906 packet1.covariance = packet_in.covariance; 04907 04908 04909 04910 memset(&packet2, 0, sizeof(packet2)); 04911 mavlink_msg_distance_sensor_encode(system_id, component_id, &msg, &packet1); 04912 mavlink_msg_distance_sensor_decode(&msg, &packet2); 04913 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04914 04915 memset(&packet2, 0, sizeof(packet2)); 04916 mavlink_msg_distance_sensor_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.min_distance , packet1.max_distance , packet1.current_distance , packet1.type , packet1.id , packet1.orientation , packet1.covariance ); 04917 mavlink_msg_distance_sensor_decode(&msg, &packet2); 04918 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04919 04920 memset(&packet2, 0, sizeof(packet2)); 04921 mavlink_msg_distance_sensor_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.min_distance , packet1.max_distance , packet1.current_distance , packet1.type , packet1.id , packet1.orientation , packet1.covariance ); 04922 mavlink_msg_distance_sensor_decode(&msg, &packet2); 04923 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04924 04925 memset(&packet2, 0, sizeof(packet2)); 04926 mavlink_msg_to_send_buffer(buffer, &msg); 04927 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 04928 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 04929 } 04930 mavlink_msg_distance_sensor_decode(last_msg, &packet2); 04931 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04932 04933 memset(&packet2, 0, sizeof(packet2)); 04934 mavlink_msg_distance_sensor_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.min_distance , packet1.max_distance , packet1.current_distance , packet1.type , packet1.id , packet1.orientation , packet1.covariance ); 04935 mavlink_msg_distance_sensor_decode(last_msg, &packet2); 04936 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04937 } 04938 04939 static void mavlink_test_terrain_request(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 04940 { 04941 mavlink_message_t msg; 04942 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 04943 uint16_t i; 04944 mavlink_terrain_request_t packet_in = { 04945 93372036854775807ULL,963497880,963498088,18067 04946 }; 04947 mavlink_terrain_request_t packet1, packet2; 04948 memset(&packet1, 0, sizeof(packet1)); 04949 packet1.mask = packet_in.mask; 04950 packet1.lat = packet_in.lat; 04951 packet1.lon = packet_in.lon; 04952 packet1.grid_spacing = packet_in.grid_spacing; 04953 04954 04955 04956 memset(&packet2, 0, sizeof(packet2)); 04957 mavlink_msg_terrain_request_encode(system_id, component_id, &msg, &packet1); 04958 mavlink_msg_terrain_request_decode(&msg, &packet2); 04959 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04960 04961 memset(&packet2, 0, sizeof(packet2)); 04962 mavlink_msg_terrain_request_pack(system_id, component_id, &msg , packet1.lat , packet1.lon , packet1.grid_spacing , packet1.mask ); 04963 mavlink_msg_terrain_request_decode(&msg, &packet2); 04964 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04965 04966 memset(&packet2, 0, sizeof(packet2)); 04967 mavlink_msg_terrain_request_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.lat , packet1.lon , packet1.grid_spacing , packet1.mask ); 04968 mavlink_msg_terrain_request_decode(&msg, &packet2); 04969 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04970 04971 memset(&packet2, 0, sizeof(packet2)); 04972 mavlink_msg_to_send_buffer(buffer, &msg); 04973 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 04974 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 04975 } 04976 mavlink_msg_terrain_request_decode(last_msg, &packet2); 04977 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04978 04979 memset(&packet2, 0, sizeof(packet2)); 04980 mavlink_msg_terrain_request_send(MAVLINK_COMM_1 , packet1.lat , packet1.lon , packet1.grid_spacing , packet1.mask ); 04981 mavlink_msg_terrain_request_decode(last_msg, &packet2); 04982 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 04983 } 04984 04985 static void mavlink_test_terrain_data(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 04986 { 04987 mavlink_message_t msg; 04988 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 04989 uint16_t i; 04990 mavlink_terrain_data_t packet_in = { 04991 963497464,963497672,17651,{ 17755, 17756, 17757, 17758, 17759, 17760, 17761, 17762, 17763, 17764, 17765, 17766, 17767, 17768, 17769, 17770 },3 04992 }; 04993 mavlink_terrain_data_t packet1, packet2; 04994 memset(&packet1, 0, sizeof(packet1)); 04995 packet1.lat = packet_in.lat; 04996 packet1.lon = packet_in.lon; 04997 packet1.grid_spacing = packet_in.grid_spacing; 04998 packet1.gridbit = packet_in.gridbit; 04999 05000 mav_array_memcpy(packet1.data, packet_in.data, sizeof(int16_t)*16); 05001 05002 05003 memset(&packet2, 0, sizeof(packet2)); 05004 mavlink_msg_terrain_data_encode(system_id, component_id, &msg, &packet1); 05005 mavlink_msg_terrain_data_decode(&msg, &packet2); 05006 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05007 05008 memset(&packet2, 0, sizeof(packet2)); 05009 mavlink_msg_terrain_data_pack(system_id, component_id, &msg , packet1.lat , packet1.lon , packet1.grid_spacing , packet1.gridbit , packet1.data ); 05010 mavlink_msg_terrain_data_decode(&msg, &packet2); 05011 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05012 05013 memset(&packet2, 0, sizeof(packet2)); 05014 mavlink_msg_terrain_data_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.lat , packet1.lon , packet1.grid_spacing , packet1.gridbit , packet1.data ); 05015 mavlink_msg_terrain_data_decode(&msg, &packet2); 05016 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05017 05018 memset(&packet2, 0, sizeof(packet2)); 05019 mavlink_msg_to_send_buffer(buffer, &msg); 05020 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 05021 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 05022 } 05023 mavlink_msg_terrain_data_decode(last_msg, &packet2); 05024 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05025 05026 memset(&packet2, 0, sizeof(packet2)); 05027 mavlink_msg_terrain_data_send(MAVLINK_COMM_1 , packet1.lat , packet1.lon , packet1.grid_spacing , packet1.gridbit , packet1.data ); 05028 mavlink_msg_terrain_data_decode(last_msg, &packet2); 05029 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05030 } 05031 05032 static void mavlink_test_terrain_check(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 05033 { 05034 mavlink_message_t msg; 05035 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 05036 uint16_t i; 05037 mavlink_terrain_check_t packet_in = { 05038 963497464,963497672 05039 }; 05040 mavlink_terrain_check_t packet1, packet2; 05041 memset(&packet1, 0, sizeof(packet1)); 05042 packet1.lat = packet_in.lat; 05043 packet1.lon = packet_in.lon; 05044 05045 05046 05047 memset(&packet2, 0, sizeof(packet2)); 05048 mavlink_msg_terrain_check_encode(system_id, component_id, &msg, &packet1); 05049 mavlink_msg_terrain_check_decode(&msg, &packet2); 05050 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05051 05052 memset(&packet2, 0, sizeof(packet2)); 05053 mavlink_msg_terrain_check_pack(system_id, component_id, &msg , packet1.lat , packet1.lon ); 05054 mavlink_msg_terrain_check_decode(&msg, &packet2); 05055 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05056 05057 memset(&packet2, 0, sizeof(packet2)); 05058 mavlink_msg_terrain_check_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.lat , packet1.lon ); 05059 mavlink_msg_terrain_check_decode(&msg, &packet2); 05060 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05061 05062 memset(&packet2, 0, sizeof(packet2)); 05063 mavlink_msg_to_send_buffer(buffer, &msg); 05064 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 05065 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 05066 } 05067 mavlink_msg_terrain_check_decode(last_msg, &packet2); 05068 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05069 05070 memset(&packet2, 0, sizeof(packet2)); 05071 mavlink_msg_terrain_check_send(MAVLINK_COMM_1 , packet1.lat , packet1.lon ); 05072 mavlink_msg_terrain_check_decode(last_msg, &packet2); 05073 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05074 } 05075 05076 static void mavlink_test_terrain_report(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 05077 { 05078 mavlink_message_t msg; 05079 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 05080 uint16_t i; 05081 mavlink_terrain_report_t packet_in = { 05082 963497464,963497672,73.0,101.0,18067,18171,18275 05083 }; 05084 mavlink_terrain_report_t packet1, packet2; 05085 memset(&packet1, 0, sizeof(packet1)); 05086 packet1.lat = packet_in.lat; 05087 packet1.lon = packet_in.lon; 05088 packet1.terrain_height = packet_in.terrain_height; 05089 packet1.current_height = packet_in.current_height; 05090 packet1.spacing = packet_in.spacing; 05091 packet1.pending = packet_in.pending; 05092 packet1.loaded = packet_in.loaded; 05093 05094 05095 05096 memset(&packet2, 0, sizeof(packet2)); 05097 mavlink_msg_terrain_report_encode(system_id, component_id, &msg, &packet1); 05098 mavlink_msg_terrain_report_decode(&msg, &packet2); 05099 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05100 05101 memset(&packet2, 0, sizeof(packet2)); 05102 mavlink_msg_terrain_report_pack(system_id, component_id, &msg , packet1.lat , packet1.lon , packet1.spacing , packet1.terrain_height , packet1.current_height , packet1.pending , packet1.loaded ); 05103 mavlink_msg_terrain_report_decode(&msg, &packet2); 05104 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05105 05106 memset(&packet2, 0, sizeof(packet2)); 05107 mavlink_msg_terrain_report_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.lat , packet1.lon , packet1.spacing , packet1.terrain_height , packet1.current_height , packet1.pending , packet1.loaded ); 05108 mavlink_msg_terrain_report_decode(&msg, &packet2); 05109 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05110 05111 memset(&packet2, 0, sizeof(packet2)); 05112 mavlink_msg_to_send_buffer(buffer, &msg); 05113 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 05114 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 05115 } 05116 mavlink_msg_terrain_report_decode(last_msg, &packet2); 05117 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05118 05119 memset(&packet2, 0, sizeof(packet2)); 05120 mavlink_msg_terrain_report_send(MAVLINK_COMM_1 , packet1.lat , packet1.lon , packet1.spacing , packet1.terrain_height , packet1.current_height , packet1.pending , packet1.loaded ); 05121 mavlink_msg_terrain_report_decode(last_msg, &packet2); 05122 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05123 } 05124 05125 static void mavlink_test_scaled_pressure2(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 05126 { 05127 mavlink_message_t msg; 05128 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 05129 uint16_t i; 05130 mavlink_scaled_pressure2_t packet_in = { 05131 963497464,45.0,73.0,17859 05132 }; 05133 mavlink_scaled_pressure2_t packet1, packet2; 05134 memset(&packet1, 0, sizeof(packet1)); 05135 packet1.time_boot_ms = packet_in.time_boot_ms; 05136 packet1.press_abs = packet_in.press_abs; 05137 packet1.press_diff = packet_in.press_diff; 05138 packet1.temperature = packet_in.temperature; 05139 05140 05141 05142 memset(&packet2, 0, sizeof(packet2)); 05143 mavlink_msg_scaled_pressure2_encode(system_id, component_id, &msg, &packet1); 05144 mavlink_msg_scaled_pressure2_decode(&msg, &packet2); 05145 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05146 05147 memset(&packet2, 0, sizeof(packet2)); 05148 mavlink_msg_scaled_pressure2_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.press_abs , packet1.press_diff , packet1.temperature ); 05149 mavlink_msg_scaled_pressure2_decode(&msg, &packet2); 05150 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05151 05152 memset(&packet2, 0, sizeof(packet2)); 05153 mavlink_msg_scaled_pressure2_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.press_abs , packet1.press_diff , packet1.temperature ); 05154 mavlink_msg_scaled_pressure2_decode(&msg, &packet2); 05155 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05156 05157 memset(&packet2, 0, sizeof(packet2)); 05158 mavlink_msg_to_send_buffer(buffer, &msg); 05159 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 05160 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 05161 } 05162 mavlink_msg_scaled_pressure2_decode(last_msg, &packet2); 05163 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05164 05165 memset(&packet2, 0, sizeof(packet2)); 05166 mavlink_msg_scaled_pressure2_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.press_abs , packet1.press_diff , packet1.temperature ); 05167 mavlink_msg_scaled_pressure2_decode(last_msg, &packet2); 05168 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05169 } 05170 05171 static void mavlink_test_att_pos_mocap(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 05172 { 05173 mavlink_message_t msg; 05174 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 05175 uint16_t i; 05176 mavlink_att_pos_mocap_t packet_in = { 05177 93372036854775807ULL,{ 73.0, 74.0, 75.0, 76.0 },185.0,213.0,241.0 05178 }; 05179 mavlink_att_pos_mocap_t packet1, packet2; 05180 memset(&packet1, 0, sizeof(packet1)); 05181 packet1.time_usec = packet_in.time_usec; 05182 packet1.x = packet_in.x; 05183 packet1.y = packet_in.y; 05184 packet1.z = packet_in.z; 05185 05186 mav_array_memcpy(packet1.q, packet_in.q, sizeof(float)*4); 05187 05188 05189 memset(&packet2, 0, sizeof(packet2)); 05190 mavlink_msg_att_pos_mocap_encode(system_id, component_id, &msg, &packet1); 05191 mavlink_msg_att_pos_mocap_decode(&msg, &packet2); 05192 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05193 05194 memset(&packet2, 0, sizeof(packet2)); 05195 mavlink_msg_att_pos_mocap_pack(system_id, component_id, &msg , packet1.time_usec , packet1.q , packet1.x , packet1.y , packet1.z ); 05196 mavlink_msg_att_pos_mocap_decode(&msg, &packet2); 05197 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05198 05199 memset(&packet2, 0, sizeof(packet2)); 05200 mavlink_msg_att_pos_mocap_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.q , packet1.x , packet1.y , packet1.z ); 05201 mavlink_msg_att_pos_mocap_decode(&msg, &packet2); 05202 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05203 05204 memset(&packet2, 0, sizeof(packet2)); 05205 mavlink_msg_to_send_buffer(buffer, &msg); 05206 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 05207 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 05208 } 05209 mavlink_msg_att_pos_mocap_decode(last_msg, &packet2); 05210 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05211 05212 memset(&packet2, 0, sizeof(packet2)); 05213 mavlink_msg_att_pos_mocap_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.q , packet1.x , packet1.y , packet1.z ); 05214 mavlink_msg_att_pos_mocap_decode(last_msg, &packet2); 05215 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05216 } 05217 05218 static void mavlink_test_set_actuator_control_target(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 05219 { 05220 mavlink_message_t msg; 05221 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 05222 uint16_t i; 05223 mavlink_set_actuator_control_target_t packet_in = { 05224 93372036854775807ULL,{ 73.0, 74.0, 75.0, 76.0, 77.0, 78.0, 79.0, 80.0 },125,192,3 05225 }; 05226 mavlink_set_actuator_control_target_t packet1, packet2; 05227 memset(&packet1, 0, sizeof(packet1)); 05228 packet1.time_usec = packet_in.time_usec; 05229 packet1.group_mlx = packet_in.group_mlx; 05230 packet1.target_system = packet_in.target_system; 05231 packet1.target_component = packet_in.target_component; 05232 05233 mav_array_memcpy(packet1.controls, packet_in.controls, sizeof(float)*8); 05234 05235 05236 memset(&packet2, 0, sizeof(packet2)); 05237 mavlink_msg_set_actuator_control_target_encode(system_id, component_id, &msg, &packet1); 05238 mavlink_msg_set_actuator_control_target_decode(&msg, &packet2); 05239 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05240 05241 memset(&packet2, 0, sizeof(packet2)); 05242 mavlink_msg_set_actuator_control_target_pack(system_id, component_id, &msg , packet1.time_usec , packet1.group_mlx , packet1.target_system , packet1.target_component , packet1.controls ); 05243 mavlink_msg_set_actuator_control_target_decode(&msg, &packet2); 05244 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05245 05246 memset(&packet2, 0, sizeof(packet2)); 05247 mavlink_msg_set_actuator_control_target_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.group_mlx , packet1.target_system , packet1.target_component , packet1.controls ); 05248 mavlink_msg_set_actuator_control_target_decode(&msg, &packet2); 05249 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05250 05251 memset(&packet2, 0, sizeof(packet2)); 05252 mavlink_msg_to_send_buffer(buffer, &msg); 05253 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 05254 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 05255 } 05256 mavlink_msg_set_actuator_control_target_decode(last_msg, &packet2); 05257 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05258 05259 memset(&packet2, 0, sizeof(packet2)); 05260 mavlink_msg_set_actuator_control_target_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.group_mlx , packet1.target_system , packet1.target_component , packet1.controls ); 05261 mavlink_msg_set_actuator_control_target_decode(last_msg, &packet2); 05262 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05263 } 05264 05265 static void mavlink_test_actuator_control_target(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 05266 { 05267 mavlink_message_t msg; 05268 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 05269 uint16_t i; 05270 mavlink_actuator_control_target_t packet_in = { 05271 93372036854775807ULL,{ 73.0, 74.0, 75.0, 76.0, 77.0, 78.0, 79.0, 80.0 },125 05272 }; 05273 mavlink_actuator_control_target_t packet1, packet2; 05274 memset(&packet1, 0, sizeof(packet1)); 05275 packet1.time_usec = packet_in.time_usec; 05276 packet1.group_mlx = packet_in.group_mlx; 05277 05278 mav_array_memcpy(packet1.controls, packet_in.controls, sizeof(float)*8); 05279 05280 05281 memset(&packet2, 0, sizeof(packet2)); 05282 mavlink_msg_actuator_control_target_encode(system_id, component_id, &msg, &packet1); 05283 mavlink_msg_actuator_control_target_decode(&msg, &packet2); 05284 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05285 05286 memset(&packet2, 0, sizeof(packet2)); 05287 mavlink_msg_actuator_control_target_pack(system_id, component_id, &msg , packet1.time_usec , packet1.group_mlx , packet1.controls ); 05288 mavlink_msg_actuator_control_target_decode(&msg, &packet2); 05289 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05290 05291 memset(&packet2, 0, sizeof(packet2)); 05292 mavlink_msg_actuator_control_target_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.group_mlx , packet1.controls ); 05293 mavlink_msg_actuator_control_target_decode(&msg, &packet2); 05294 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05295 05296 memset(&packet2, 0, sizeof(packet2)); 05297 mavlink_msg_to_send_buffer(buffer, &msg); 05298 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 05299 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 05300 } 05301 mavlink_msg_actuator_control_target_decode(last_msg, &packet2); 05302 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05303 05304 memset(&packet2, 0, sizeof(packet2)); 05305 mavlink_msg_actuator_control_target_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.group_mlx , packet1.controls ); 05306 mavlink_msg_actuator_control_target_decode(last_msg, &packet2); 05307 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05308 } 05309 05310 static void mavlink_test_altitude(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 05311 { 05312 mavlink_message_t msg; 05313 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 05314 uint16_t i; 05315 mavlink_altitude_t packet_in = { 05316 17.0,45.0,73.0,101.0,129.0,157.0 05317 }; 05318 mavlink_altitude_t packet1, packet2; 05319 memset(&packet1, 0, sizeof(packet1)); 05320 packet1.altitude_monotonic = packet_in.altitude_monotonic; 05321 packet1.altitude_amsl = packet_in.altitude_amsl; 05322 packet1.altitude_local = packet_in.altitude_local; 05323 packet1.altitude_relative = packet_in.altitude_relative; 05324 packet1.altitude_terrain = packet_in.altitude_terrain; 05325 packet1.bottom_clearance = packet_in.bottom_clearance; 05326 05327 05328 05329 memset(&packet2, 0, sizeof(packet2)); 05330 mavlink_msg_altitude_encode(system_id, component_id, &msg, &packet1); 05331 mavlink_msg_altitude_decode(&msg, &packet2); 05332 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05333 05334 memset(&packet2, 0, sizeof(packet2)); 05335 mavlink_msg_altitude_pack(system_id, component_id, &msg , packet1.altitude_monotonic , packet1.altitude_amsl , packet1.altitude_local , packet1.altitude_relative , packet1.altitude_terrain , packet1.bottom_clearance ); 05336 mavlink_msg_altitude_decode(&msg, &packet2); 05337 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05338 05339 memset(&packet2, 0, sizeof(packet2)); 05340 mavlink_msg_altitude_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.altitude_monotonic , packet1.altitude_amsl , packet1.altitude_local , packet1.altitude_relative , packet1.altitude_terrain , packet1.bottom_clearance ); 05341 mavlink_msg_altitude_decode(&msg, &packet2); 05342 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05343 05344 memset(&packet2, 0, sizeof(packet2)); 05345 mavlink_msg_to_send_buffer(buffer, &msg); 05346 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 05347 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 05348 } 05349 mavlink_msg_altitude_decode(last_msg, &packet2); 05350 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05351 05352 memset(&packet2, 0, sizeof(packet2)); 05353 mavlink_msg_altitude_send(MAVLINK_COMM_1 , packet1.altitude_monotonic , packet1.altitude_amsl , packet1.altitude_local , packet1.altitude_relative , packet1.altitude_terrain , packet1.bottom_clearance ); 05354 mavlink_msg_altitude_decode(last_msg, &packet2); 05355 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05356 } 05357 05358 static void mavlink_test_resource_request(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 05359 { 05360 mavlink_message_t msg; 05361 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 05362 uint16_t i; 05363 mavlink_resource_request_t packet_in = { 05364 5,72,{ 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 0, 1, 2 },243,{ 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173 } 05365 }; 05366 mavlink_resource_request_t packet1, packet2; 05367 memset(&packet1, 0, sizeof(packet1)); 05368 packet1.request_id = packet_in.request_id; 05369 packet1.uri_type = packet_in.uri_type; 05370 packet1.transfer_type = packet_in.transfer_type; 05371 05372 mav_array_memcpy(packet1.uri, packet_in.uri, sizeof(uint8_t)*120); 05373 mav_array_memcpy(packet1.storage, packet_in.storage, sizeof(uint8_t)*120); 05374 05375 05376 memset(&packet2, 0, sizeof(packet2)); 05377 mavlink_msg_resource_request_encode(system_id, component_id, &msg, &packet1); 05378 mavlink_msg_resource_request_decode(&msg, &packet2); 05379 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05380 05381 memset(&packet2, 0, sizeof(packet2)); 05382 mavlink_msg_resource_request_pack(system_id, component_id, &msg , packet1.request_id , packet1.uri_type , packet1.uri , packet1.transfer_type , packet1.storage ); 05383 mavlink_msg_resource_request_decode(&msg, &packet2); 05384 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05385 05386 memset(&packet2, 0, sizeof(packet2)); 05387 mavlink_msg_resource_request_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.request_id , packet1.uri_type , packet1.uri , packet1.transfer_type , packet1.storage ); 05388 mavlink_msg_resource_request_decode(&msg, &packet2); 05389 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05390 05391 memset(&packet2, 0, sizeof(packet2)); 05392 mavlink_msg_to_send_buffer(buffer, &msg); 05393 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 05394 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 05395 } 05396 mavlink_msg_resource_request_decode(last_msg, &packet2); 05397 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05398 05399 memset(&packet2, 0, sizeof(packet2)); 05400 mavlink_msg_resource_request_send(MAVLINK_COMM_1 , packet1.request_id , packet1.uri_type , packet1.uri , packet1.transfer_type , packet1.storage ); 05401 mavlink_msg_resource_request_decode(last_msg, &packet2); 05402 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05403 } 05404 05405 static void mavlink_test_scaled_pressure3(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 05406 { 05407 mavlink_message_t msg; 05408 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 05409 uint16_t i; 05410 mavlink_scaled_pressure3_t packet_in = { 05411 963497464,45.0,73.0,17859 05412 }; 05413 mavlink_scaled_pressure3_t packet1, packet2; 05414 memset(&packet1, 0, sizeof(packet1)); 05415 packet1.time_boot_ms = packet_in.time_boot_ms; 05416 packet1.press_abs = packet_in.press_abs; 05417 packet1.press_diff = packet_in.press_diff; 05418 packet1.temperature = packet_in.temperature; 05419 05420 05421 05422 memset(&packet2, 0, sizeof(packet2)); 05423 mavlink_msg_scaled_pressure3_encode(system_id, component_id, &msg, &packet1); 05424 mavlink_msg_scaled_pressure3_decode(&msg, &packet2); 05425 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05426 05427 memset(&packet2, 0, sizeof(packet2)); 05428 mavlink_msg_scaled_pressure3_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.press_abs , packet1.press_diff , packet1.temperature ); 05429 mavlink_msg_scaled_pressure3_decode(&msg, &packet2); 05430 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05431 05432 memset(&packet2, 0, sizeof(packet2)); 05433 mavlink_msg_scaled_pressure3_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.press_abs , packet1.press_diff , packet1.temperature ); 05434 mavlink_msg_scaled_pressure3_decode(&msg, &packet2); 05435 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05436 05437 memset(&packet2, 0, sizeof(packet2)); 05438 mavlink_msg_to_send_buffer(buffer, &msg); 05439 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 05440 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 05441 } 05442 mavlink_msg_scaled_pressure3_decode(last_msg, &packet2); 05443 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05444 05445 memset(&packet2, 0, sizeof(packet2)); 05446 mavlink_msg_scaled_pressure3_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.press_abs , packet1.press_diff , packet1.temperature ); 05447 mavlink_msg_scaled_pressure3_decode(last_msg, &packet2); 05448 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05449 } 05450 05451 static void mavlink_test_control_system_state(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 05452 { 05453 mavlink_message_t msg; 05454 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 05455 uint16_t i; 05456 mavlink_control_system_state_t packet_in = { 05457 93372036854775807ULL,73.0,101.0,129.0,157.0,185.0,213.0,241.0,269.0,297.0,325.0,{ 353.0, 354.0, 355.0 },{ 437.0, 438.0, 439.0 },{ 521.0, 522.0, 523.0, 524.0 },633.0,661.0,689.0 05458 }; 05459 mavlink_control_system_state_t packet1, packet2; 05460 memset(&packet1, 0, sizeof(packet1)); 05461 packet1.time_usec = packet_in.time_usec; 05462 packet1.x_acc = packet_in.x_acc; 05463 packet1.y_acc = packet_in.y_acc; 05464 packet1.z_acc = packet_in.z_acc; 05465 packet1.x_vel = packet_in.x_vel; 05466 packet1.y_vel = packet_in.y_vel; 05467 packet1.z_vel = packet_in.z_vel; 05468 packet1.x_pos = packet_in.x_pos; 05469 packet1.y_pos = packet_in.y_pos; 05470 packet1.z_pos = packet_in.z_pos; 05471 packet1.airspeed = packet_in.airspeed; 05472 packet1.roll_rate = packet_in.roll_rate; 05473 packet1.pitch_rate = packet_in.pitch_rate; 05474 packet1.yaw_rate = packet_in.yaw_rate; 05475 05476 mav_array_memcpy(packet1.vel_variance, packet_in.vel_variance, sizeof(float)*3); 05477 mav_array_memcpy(packet1.pos_variance, packet_in.pos_variance, sizeof(float)*3); 05478 mav_array_memcpy(packet1.q, packet_in.q, sizeof(float)*4); 05479 05480 05481 memset(&packet2, 0, sizeof(packet2)); 05482 mavlink_msg_control_system_state_encode(system_id, component_id, &msg, &packet1); 05483 mavlink_msg_control_system_state_decode(&msg, &packet2); 05484 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05485 05486 memset(&packet2, 0, sizeof(packet2)); 05487 mavlink_msg_control_system_state_pack(system_id, component_id, &msg , packet1.time_usec , packet1.x_acc , packet1.y_acc , packet1.z_acc , packet1.x_vel , packet1.y_vel , packet1.z_vel , packet1.x_pos , packet1.y_pos , packet1.z_pos , packet1.airspeed , packet1.vel_variance , packet1.pos_variance , packet1.q , packet1.roll_rate , packet1.pitch_rate , packet1.yaw_rate ); 05488 mavlink_msg_control_system_state_decode(&msg, &packet2); 05489 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05490 05491 memset(&packet2, 0, sizeof(packet2)); 05492 mavlink_msg_control_system_state_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.x_acc , packet1.y_acc , packet1.z_acc , packet1.x_vel , packet1.y_vel , packet1.z_vel , packet1.x_pos , packet1.y_pos , packet1.z_pos , packet1.airspeed , packet1.vel_variance , packet1.pos_variance , packet1.q , packet1.roll_rate , packet1.pitch_rate , packet1.yaw_rate ); 05493 mavlink_msg_control_system_state_decode(&msg, &packet2); 05494 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05495 05496 memset(&packet2, 0, sizeof(packet2)); 05497 mavlink_msg_to_send_buffer(buffer, &msg); 05498 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 05499 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 05500 } 05501 mavlink_msg_control_system_state_decode(last_msg, &packet2); 05502 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05503 05504 memset(&packet2, 0, sizeof(packet2)); 05505 mavlink_msg_control_system_state_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.x_acc , packet1.y_acc , packet1.z_acc , packet1.x_vel , packet1.y_vel , packet1.z_vel , packet1.x_pos , packet1.y_pos , packet1.z_pos , packet1.airspeed , packet1.vel_variance , packet1.pos_variance , packet1.q , packet1.roll_rate , packet1.pitch_rate , packet1.yaw_rate ); 05506 mavlink_msg_control_system_state_decode(last_msg, &packet2); 05507 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05508 } 05509 05510 static void mavlink_test_battery_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 05511 { 05512 mavlink_message_t msg; 05513 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 05514 uint16_t i; 05515 mavlink_battery_status_t packet_in = { 05516 963497464,963497672,17651,{ 17755, 17756, 17757, 17758, 17759, 17760, 17761, 17762, 17763, 17764 },18795,101,168,235,46 05517 }; 05518 mavlink_battery_status_t packet1, packet2; 05519 memset(&packet1, 0, sizeof(packet1)); 05520 packet1.current_consumed = packet_in.current_consumed; 05521 packet1.energy_consumed = packet_in.energy_consumed; 05522 packet1.temperature = packet_in.temperature; 05523 packet1.current_battery = packet_in.current_battery; 05524 packet1.id = packet_in.id; 05525 packet1.battery_function = packet_in.battery_function; 05526 packet1.type = packet_in.type; 05527 packet1.battery_remaining = packet_in.battery_remaining; 05528 05529 mav_array_memcpy(packet1.voltages, packet_in.voltages, sizeof(uint16_t)*10); 05530 05531 05532 memset(&packet2, 0, sizeof(packet2)); 05533 mavlink_msg_battery_status_encode(system_id, component_id, &msg, &packet1); 05534 mavlink_msg_battery_status_decode(&msg, &packet2); 05535 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05536 05537 memset(&packet2, 0, sizeof(packet2)); 05538 mavlink_msg_battery_status_pack(system_id, component_id, &msg , packet1.id , packet1.battery_function , packet1.type , packet1.temperature , packet1.voltages , packet1.current_battery , packet1.current_consumed , packet1.energy_consumed , packet1.battery_remaining ); 05539 mavlink_msg_battery_status_decode(&msg, &packet2); 05540 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05541 05542 memset(&packet2, 0, sizeof(packet2)); 05543 mavlink_msg_battery_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.id , packet1.battery_function , packet1.type , packet1.temperature , packet1.voltages , packet1.current_battery , packet1.current_consumed , packet1.energy_consumed , packet1.battery_remaining ); 05544 mavlink_msg_battery_status_decode(&msg, &packet2); 05545 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05546 05547 memset(&packet2, 0, sizeof(packet2)); 05548 mavlink_msg_to_send_buffer(buffer, &msg); 05549 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 05550 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 05551 } 05552 mavlink_msg_battery_status_decode(last_msg, &packet2); 05553 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05554 05555 memset(&packet2, 0, sizeof(packet2)); 05556 mavlink_msg_battery_status_send(MAVLINK_COMM_1 , packet1.id , packet1.battery_function , packet1.type , packet1.temperature , packet1.voltages , packet1.current_battery , packet1.current_consumed , packet1.energy_consumed , packet1.battery_remaining ); 05557 mavlink_msg_battery_status_decode(last_msg, &packet2); 05558 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05559 } 05560 05561 static void mavlink_test_autopilot_version(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 05562 { 05563 mavlink_message_t msg; 05564 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 05565 uint16_t i; 05566 mavlink_autopilot_version_t packet_in = { 05567 93372036854775807ULL,93372036854776311ULL,963498296,963498504,963498712,963498920,18899,19003,{ 113, 114, 115, 116, 117, 118, 119, 120 },{ 137, 138, 139, 140, 141, 142, 143, 144 },{ 161, 162, 163, 164, 165, 166, 167, 168 } 05568 }; 05569 mavlink_autopilot_version_t packet1, packet2; 05570 memset(&packet1, 0, sizeof(packet1)); 05571 packet1.capabilities = packet_in.capabilities; 05572 packet1.uid = packet_in.uid; 05573 packet1.flight_sw_version = packet_in.flight_sw_version; 05574 packet1.middleware_sw_version = packet_in.middleware_sw_version; 05575 packet1.os_sw_version = packet_in.os_sw_version; 05576 packet1.board_version = packet_in.board_version; 05577 packet1.vendor_id = packet_in.vendor_id; 05578 packet1.product_id = packet_in.product_id; 05579 05580 mav_array_memcpy(packet1.flight_custom_version, packet_in.flight_custom_version, sizeof(uint8_t)*8); 05581 mav_array_memcpy(packet1.middleware_custom_version, packet_in.middleware_custom_version, sizeof(uint8_t)*8); 05582 mav_array_memcpy(packet1.os_custom_version, packet_in.os_custom_version, sizeof(uint8_t)*8); 05583 05584 05585 memset(&packet2, 0, sizeof(packet2)); 05586 mavlink_msg_autopilot_version_encode(system_id, component_id, &msg, &packet1); 05587 mavlink_msg_autopilot_version_decode(&msg, &packet2); 05588 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05589 05590 memset(&packet2, 0, sizeof(packet2)); 05591 mavlink_msg_autopilot_version_pack(system_id, component_id, &msg , packet1.capabilities , packet1.flight_sw_version , packet1.middleware_sw_version , packet1.os_sw_version , packet1.board_version , packet1.flight_custom_version , packet1.middleware_custom_version , packet1.os_custom_version , packet1.vendor_id , packet1.product_id , packet1.uid ); 05592 mavlink_msg_autopilot_version_decode(&msg, &packet2); 05593 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05594 05595 memset(&packet2, 0, sizeof(packet2)); 05596 mavlink_msg_autopilot_version_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.capabilities , packet1.flight_sw_version , packet1.middleware_sw_version , packet1.os_sw_version , packet1.board_version , packet1.flight_custom_version , packet1.middleware_custom_version , packet1.os_custom_version , packet1.vendor_id , packet1.product_id , packet1.uid ); 05597 mavlink_msg_autopilot_version_decode(&msg, &packet2); 05598 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05599 05600 memset(&packet2, 0, sizeof(packet2)); 05601 mavlink_msg_to_send_buffer(buffer, &msg); 05602 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 05603 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 05604 } 05605 mavlink_msg_autopilot_version_decode(last_msg, &packet2); 05606 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05607 05608 memset(&packet2, 0, sizeof(packet2)); 05609 mavlink_msg_autopilot_version_send(MAVLINK_COMM_1 , packet1.capabilities , packet1.flight_sw_version , packet1.middleware_sw_version , packet1.os_sw_version , packet1.board_version , packet1.flight_custom_version , packet1.middleware_custom_version , packet1.os_custom_version , packet1.vendor_id , packet1.product_id , packet1.uid ); 05610 mavlink_msg_autopilot_version_decode(last_msg, &packet2); 05611 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05612 } 05613 05614 static void mavlink_test_landing_target(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 05615 { 05616 mavlink_message_t msg; 05617 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 05618 uint16_t i; 05619 mavlink_landing_target_t packet_in = { 05620 93372036854775807ULL,73.0,101.0,129.0,157.0,185.0,89,156 05621 }; 05622 mavlink_landing_target_t packet1, packet2; 05623 memset(&packet1, 0, sizeof(packet1)); 05624 packet1.time_usec = packet_in.time_usec; 05625 packet1.angle_x = packet_in.angle_x; 05626 packet1.angle_y = packet_in.angle_y; 05627 packet1.distance = packet_in.distance; 05628 packet1.size_x = packet_in.size_x; 05629 packet1.size_y = packet_in.size_y; 05630 packet1.target_num = packet_in.target_num; 05631 packet1.frame = packet_in.frame; 05632 05633 05634 05635 memset(&packet2, 0, sizeof(packet2)); 05636 mavlink_msg_landing_target_encode(system_id, component_id, &msg, &packet1); 05637 mavlink_msg_landing_target_decode(&msg, &packet2); 05638 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05639 05640 memset(&packet2, 0, sizeof(packet2)); 05641 mavlink_msg_landing_target_pack(system_id, component_id, &msg , packet1.time_usec , packet1.target_num , packet1.frame , packet1.angle_x , packet1.angle_y , packet1.distance , packet1.size_x , packet1.size_y ); 05642 mavlink_msg_landing_target_decode(&msg, &packet2); 05643 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05644 05645 memset(&packet2, 0, sizeof(packet2)); 05646 mavlink_msg_landing_target_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.target_num , packet1.frame , packet1.angle_x , packet1.angle_y , packet1.distance , packet1.size_x , packet1.size_y ); 05647 mavlink_msg_landing_target_decode(&msg, &packet2); 05648 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05649 05650 memset(&packet2, 0, sizeof(packet2)); 05651 mavlink_msg_to_send_buffer(buffer, &msg); 05652 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 05653 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 05654 } 05655 mavlink_msg_landing_target_decode(last_msg, &packet2); 05656 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05657 05658 memset(&packet2, 0, sizeof(packet2)); 05659 mavlink_msg_landing_target_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.target_num , packet1.frame , packet1.angle_x , packet1.angle_y , packet1.distance , packet1.size_x , packet1.size_y ); 05660 mavlink_msg_landing_target_decode(last_msg, &packet2); 05661 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05662 } 05663 05664 static void mavlink_test_vibration(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 05665 { 05666 mavlink_message_t msg; 05667 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 05668 uint16_t i; 05669 mavlink_vibration_t packet_in = { 05670 93372036854775807ULL,73.0,101.0,129.0,963498504,963498712,963498920 05671 }; 05672 mavlink_vibration_t packet1, packet2; 05673 memset(&packet1, 0, sizeof(packet1)); 05674 packet1.time_usec = packet_in.time_usec; 05675 packet1.vibration_x = packet_in.vibration_x; 05676 packet1.vibration_y = packet_in.vibration_y; 05677 packet1.vibration_z = packet_in.vibration_z; 05678 packet1.clipping_0 = packet_in.clipping_0; 05679 packet1.clipping_1 = packet_in.clipping_1; 05680 packet1.clipping_2 = packet_in.clipping_2; 05681 05682 05683 05684 memset(&packet2, 0, sizeof(packet2)); 05685 mavlink_msg_vibration_encode(system_id, component_id, &msg, &packet1); 05686 mavlink_msg_vibration_decode(&msg, &packet2); 05687 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05688 05689 memset(&packet2, 0, sizeof(packet2)); 05690 mavlink_msg_vibration_pack(system_id, component_id, &msg , packet1.time_usec , packet1.vibration_x , packet1.vibration_y , packet1.vibration_z , packet1.clipping_0 , packet1.clipping_1 , packet1.clipping_2 ); 05691 mavlink_msg_vibration_decode(&msg, &packet2); 05692 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05693 05694 memset(&packet2, 0, sizeof(packet2)); 05695 mavlink_msg_vibration_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.vibration_x , packet1.vibration_y , packet1.vibration_z , packet1.clipping_0 , packet1.clipping_1 , packet1.clipping_2 ); 05696 mavlink_msg_vibration_decode(&msg, &packet2); 05697 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05698 05699 memset(&packet2, 0, sizeof(packet2)); 05700 mavlink_msg_to_send_buffer(buffer, &msg); 05701 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 05702 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 05703 } 05704 mavlink_msg_vibration_decode(last_msg, &packet2); 05705 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05706 05707 memset(&packet2, 0, sizeof(packet2)); 05708 mavlink_msg_vibration_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.vibration_x , packet1.vibration_y , packet1.vibration_z , packet1.clipping_0 , packet1.clipping_1 , packet1.clipping_2 ); 05709 mavlink_msg_vibration_decode(last_msg, &packet2); 05710 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05711 } 05712 05713 static void mavlink_test_home_position(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 05714 { 05715 mavlink_message_t msg; 05716 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 05717 uint16_t i; 05718 mavlink_home_position_t packet_in = { 05719 963497464,963497672,963497880,101.0,129.0,157.0,{ 185.0, 186.0, 187.0, 188.0 },297.0,325.0,353.0 05720 }; 05721 mavlink_home_position_t packet1, packet2; 05722 memset(&packet1, 0, sizeof(packet1)); 05723 packet1.latitude = packet_in.latitude; 05724 packet1.longitude = packet_in.longitude; 05725 packet1.altitude = packet_in.altitude; 05726 packet1.x = packet_in.x; 05727 packet1.y = packet_in.y; 05728 packet1.z = packet_in.z; 05729 packet1.approach_x = packet_in.approach_x; 05730 packet1.approach_y = packet_in.approach_y; 05731 packet1.approach_z = packet_in.approach_z; 05732 05733 mav_array_memcpy(packet1.q, packet_in.q, sizeof(float)*4); 05734 05735 05736 memset(&packet2, 0, sizeof(packet2)); 05737 mavlink_msg_home_position_encode(system_id, component_id, &msg, &packet1); 05738 mavlink_msg_home_position_decode(&msg, &packet2); 05739 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05740 05741 memset(&packet2, 0, sizeof(packet2)); 05742 mavlink_msg_home_position_pack(system_id, component_id, &msg , packet1.latitude , packet1.longitude , packet1.altitude , packet1.x , packet1.y , packet1.z , packet1.q , packet1.approach_x , packet1.approach_y , packet1.approach_z ); 05743 mavlink_msg_home_position_decode(&msg, &packet2); 05744 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05745 05746 memset(&packet2, 0, sizeof(packet2)); 05747 mavlink_msg_home_position_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.latitude , packet1.longitude , packet1.altitude , packet1.x , packet1.y , packet1.z , packet1.q , packet1.approach_x , packet1.approach_y , packet1.approach_z ); 05748 mavlink_msg_home_position_decode(&msg, &packet2); 05749 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05750 05751 memset(&packet2, 0, sizeof(packet2)); 05752 mavlink_msg_to_send_buffer(buffer, &msg); 05753 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 05754 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 05755 } 05756 mavlink_msg_home_position_decode(last_msg, &packet2); 05757 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05758 05759 memset(&packet2, 0, sizeof(packet2)); 05760 mavlink_msg_home_position_send(MAVLINK_COMM_1 , packet1.latitude , packet1.longitude , packet1.altitude , packet1.x , packet1.y , packet1.z , packet1.q , packet1.approach_x , packet1.approach_y , packet1.approach_z ); 05761 mavlink_msg_home_position_decode(last_msg, &packet2); 05762 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05763 } 05764 05765 static void mavlink_test_set_home_position(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 05766 { 05767 mavlink_message_t msg; 05768 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 05769 uint16_t i; 05770 mavlink_set_home_position_t packet_in = { 05771 963497464,963497672,963497880,101.0,129.0,157.0,{ 185.0, 186.0, 187.0, 188.0 },297.0,325.0,353.0,161 05772 }; 05773 mavlink_set_home_position_t packet1, packet2; 05774 memset(&packet1, 0, sizeof(packet1)); 05775 packet1.latitude = packet_in.latitude; 05776 packet1.longitude = packet_in.longitude; 05777 packet1.altitude = packet_in.altitude; 05778 packet1.x = packet_in.x; 05779 packet1.y = packet_in.y; 05780 packet1.z = packet_in.z; 05781 packet1.approach_x = packet_in.approach_x; 05782 packet1.approach_y = packet_in.approach_y; 05783 packet1.approach_z = packet_in.approach_z; 05784 packet1.target_system = packet_in.target_system; 05785 05786 mav_array_memcpy(packet1.q, packet_in.q, sizeof(float)*4); 05787 05788 05789 memset(&packet2, 0, sizeof(packet2)); 05790 mavlink_msg_set_home_position_encode(system_id, component_id, &msg, &packet1); 05791 mavlink_msg_set_home_position_decode(&msg, &packet2); 05792 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05793 05794 memset(&packet2, 0, sizeof(packet2)); 05795 mavlink_msg_set_home_position_pack(system_id, component_id, &msg , packet1.target_system , packet1.latitude , packet1.longitude , packet1.altitude , packet1.x , packet1.y , packet1.z , packet1.q , packet1.approach_x , packet1.approach_y , packet1.approach_z ); 05796 mavlink_msg_set_home_position_decode(&msg, &packet2); 05797 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05798 05799 memset(&packet2, 0, sizeof(packet2)); 05800 mavlink_msg_set_home_position_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_system , packet1.latitude , packet1.longitude , packet1.altitude , packet1.x , packet1.y , packet1.z , packet1.q , packet1.approach_x , packet1.approach_y , packet1.approach_z ); 05801 mavlink_msg_set_home_position_decode(&msg, &packet2); 05802 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05803 05804 memset(&packet2, 0, sizeof(packet2)); 05805 mavlink_msg_to_send_buffer(buffer, &msg); 05806 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 05807 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 05808 } 05809 mavlink_msg_set_home_position_decode(last_msg, &packet2); 05810 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05811 05812 memset(&packet2, 0, sizeof(packet2)); 05813 mavlink_msg_set_home_position_send(MAVLINK_COMM_1 , packet1.target_system , packet1.latitude , packet1.longitude , packet1.altitude , packet1.x , packet1.y , packet1.z , packet1.q , packet1.approach_x , packet1.approach_y , packet1.approach_z ); 05814 mavlink_msg_set_home_position_decode(last_msg, &packet2); 05815 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05816 } 05817 05818 static void mavlink_test_message_interval(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 05819 { 05820 mavlink_message_t msg; 05821 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 05822 uint16_t i; 05823 mavlink_message_interval_t packet_in = { 05824 963497464,17443 05825 }; 05826 mavlink_message_interval_t packet1, packet2; 05827 memset(&packet1, 0, sizeof(packet1)); 05828 packet1.interval_us = packet_in.interval_us; 05829 packet1.message_id = packet_in.message_id; 05830 05831 05832 05833 memset(&packet2, 0, sizeof(packet2)); 05834 mavlink_msg_message_interval_encode(system_id, component_id, &msg, &packet1); 05835 mavlink_msg_message_interval_decode(&msg, &packet2); 05836 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05837 05838 memset(&packet2, 0, sizeof(packet2)); 05839 mavlink_msg_message_interval_pack(system_id, component_id, &msg , packet1.message_id , packet1.interval_us ); 05840 mavlink_msg_message_interval_decode(&msg, &packet2); 05841 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05842 05843 memset(&packet2, 0, sizeof(packet2)); 05844 mavlink_msg_message_interval_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.message_id , packet1.interval_us ); 05845 mavlink_msg_message_interval_decode(&msg, &packet2); 05846 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05847 05848 memset(&packet2, 0, sizeof(packet2)); 05849 mavlink_msg_to_send_buffer(buffer, &msg); 05850 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 05851 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 05852 } 05853 mavlink_msg_message_interval_decode(last_msg, &packet2); 05854 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05855 05856 memset(&packet2, 0, sizeof(packet2)); 05857 mavlink_msg_message_interval_send(MAVLINK_COMM_1 , packet1.message_id , packet1.interval_us ); 05858 mavlink_msg_message_interval_decode(last_msg, &packet2); 05859 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05860 } 05861 05862 static void mavlink_test_extended_sys_state(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 05863 { 05864 mavlink_message_t msg; 05865 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 05866 uint16_t i; 05867 mavlink_extended_sys_state_t packet_in = { 05868 5,72 05869 }; 05870 mavlink_extended_sys_state_t packet1, packet2; 05871 memset(&packet1, 0, sizeof(packet1)); 05872 packet1.vtol_state = packet_in.vtol_state; 05873 packet1.landed_state = packet_in.landed_state; 05874 05875 05876 05877 memset(&packet2, 0, sizeof(packet2)); 05878 mavlink_msg_extended_sys_state_encode(system_id, component_id, &msg, &packet1); 05879 mavlink_msg_extended_sys_state_decode(&msg, &packet2); 05880 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05881 05882 memset(&packet2, 0, sizeof(packet2)); 05883 mavlink_msg_extended_sys_state_pack(system_id, component_id, &msg , packet1.vtol_state , packet1.landed_state ); 05884 mavlink_msg_extended_sys_state_decode(&msg, &packet2); 05885 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05886 05887 memset(&packet2, 0, sizeof(packet2)); 05888 mavlink_msg_extended_sys_state_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.vtol_state , packet1.landed_state ); 05889 mavlink_msg_extended_sys_state_decode(&msg, &packet2); 05890 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05891 05892 memset(&packet2, 0, sizeof(packet2)); 05893 mavlink_msg_to_send_buffer(buffer, &msg); 05894 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 05895 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 05896 } 05897 mavlink_msg_extended_sys_state_decode(last_msg, &packet2); 05898 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05899 05900 memset(&packet2, 0, sizeof(packet2)); 05901 mavlink_msg_extended_sys_state_send(MAVLINK_COMM_1 , packet1.vtol_state , packet1.landed_state ); 05902 mavlink_msg_extended_sys_state_decode(last_msg, &packet2); 05903 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05904 } 05905 05906 static void mavlink_test_v2_extension(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 05907 { 05908 mavlink_message_t msg; 05909 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 05910 uint16_t i; 05911 mavlink_v2_extension_t packet_in = { 05912 17235,139,206,17,{ 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76 } 05913 }; 05914 mavlink_v2_extension_t packet1, packet2; 05915 memset(&packet1, 0, sizeof(packet1)); 05916 packet1.message_type = packet_in.message_type; 05917 packet1.target_network = packet_in.target_network; 05918 packet1.target_system = packet_in.target_system; 05919 packet1.target_component = packet_in.target_component; 05920 05921 mav_array_memcpy(packet1.payload, packet_in.payload, sizeof(uint8_t)*249); 05922 05923 05924 memset(&packet2, 0, sizeof(packet2)); 05925 mavlink_msg_v2_extension_encode(system_id, component_id, &msg, &packet1); 05926 mavlink_msg_v2_extension_decode(&msg, &packet2); 05927 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05928 05929 memset(&packet2, 0, sizeof(packet2)); 05930 mavlink_msg_v2_extension_pack(system_id, component_id, &msg , packet1.target_network , packet1.target_system , packet1.target_component , packet1.message_type , packet1.payload ); 05931 mavlink_msg_v2_extension_decode(&msg, &packet2); 05932 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05933 05934 memset(&packet2, 0, sizeof(packet2)); 05935 mavlink_msg_v2_extension_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.target_network , packet1.target_system , packet1.target_component , packet1.message_type , packet1.payload ); 05936 mavlink_msg_v2_extension_decode(&msg, &packet2); 05937 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05938 05939 memset(&packet2, 0, sizeof(packet2)); 05940 mavlink_msg_to_send_buffer(buffer, &msg); 05941 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 05942 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 05943 } 05944 mavlink_msg_v2_extension_decode(last_msg, &packet2); 05945 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05946 05947 memset(&packet2, 0, sizeof(packet2)); 05948 mavlink_msg_v2_extension_send(MAVLINK_COMM_1 , packet1.target_network , packet1.target_system , packet1.target_component , packet1.message_type , packet1.payload ); 05949 mavlink_msg_v2_extension_decode(last_msg, &packet2); 05950 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05951 } 05952 05953 static void mavlink_test_memory_vect(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 05954 { 05955 mavlink_message_t msg; 05956 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 05957 uint16_t i; 05958 mavlink_memory_vect_t packet_in = { 05959 17235,139,206,{ 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48 } 05960 }; 05961 mavlink_memory_vect_t packet1, packet2; 05962 memset(&packet1, 0, sizeof(packet1)); 05963 packet1.address = packet_in.address; 05964 packet1.ver = packet_in.ver; 05965 packet1.type = packet_in.type; 05966 05967 mav_array_memcpy(packet1.value, packet_in.value, sizeof(int8_t)*32); 05968 05969 05970 memset(&packet2, 0, sizeof(packet2)); 05971 mavlink_msg_memory_vect_encode(system_id, component_id, &msg, &packet1); 05972 mavlink_msg_memory_vect_decode(&msg, &packet2); 05973 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05974 05975 memset(&packet2, 0, sizeof(packet2)); 05976 mavlink_msg_memory_vect_pack(system_id, component_id, &msg , packet1.address , packet1.ver , packet1.type , packet1.value ); 05977 mavlink_msg_memory_vect_decode(&msg, &packet2); 05978 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05979 05980 memset(&packet2, 0, sizeof(packet2)); 05981 mavlink_msg_memory_vect_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.address , packet1.ver , packet1.type , packet1.value ); 05982 mavlink_msg_memory_vect_decode(&msg, &packet2); 05983 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05984 05985 memset(&packet2, 0, sizeof(packet2)); 05986 mavlink_msg_to_send_buffer(buffer, &msg); 05987 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 05988 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 05989 } 05990 mavlink_msg_memory_vect_decode(last_msg, &packet2); 05991 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05992 05993 memset(&packet2, 0, sizeof(packet2)); 05994 mavlink_msg_memory_vect_send(MAVLINK_COMM_1 , packet1.address , packet1.ver , packet1.type , packet1.value ); 05995 mavlink_msg_memory_vect_decode(last_msg, &packet2); 05996 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 05997 } 05998 05999 static void mavlink_test_debug_vect(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 06000 { 06001 mavlink_message_t msg; 06002 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 06003 uint16_t i; 06004 mavlink_debug_vect_t packet_in = { 06005 93372036854775807ULL,73.0,101.0,129.0,"UVWXYZABC" 06006 }; 06007 mavlink_debug_vect_t packet1, packet2; 06008 memset(&packet1, 0, sizeof(packet1)); 06009 packet1.time_usec = packet_in.time_usec; 06010 packet1.x = packet_in.x; 06011 packet1.y = packet_in.y; 06012 packet1.z = packet_in.z; 06013 06014 mav_array_memcpy(packet1.name, packet_in.name, sizeof(char)*10); 06015 06016 06017 memset(&packet2, 0, sizeof(packet2)); 06018 mavlink_msg_debug_vect_encode(system_id, component_id, &msg, &packet1); 06019 mavlink_msg_debug_vect_decode(&msg, &packet2); 06020 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 06021 06022 memset(&packet2, 0, sizeof(packet2)); 06023 mavlink_msg_debug_vect_pack(system_id, component_id, &msg , packet1.name , packet1.time_usec , packet1.x , packet1.y , packet1.z ); 06024 mavlink_msg_debug_vect_decode(&msg, &packet2); 06025 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 06026 06027 memset(&packet2, 0, sizeof(packet2)); 06028 mavlink_msg_debug_vect_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.name , packet1.time_usec , packet1.x , packet1.y , packet1.z ); 06029 mavlink_msg_debug_vect_decode(&msg, &packet2); 06030 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 06031 06032 memset(&packet2, 0, sizeof(packet2)); 06033 mavlink_msg_to_send_buffer(buffer, &msg); 06034 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 06035 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 06036 } 06037 mavlink_msg_debug_vect_decode(last_msg, &packet2); 06038 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 06039 06040 memset(&packet2, 0, sizeof(packet2)); 06041 mavlink_msg_debug_vect_send(MAVLINK_COMM_1 , packet1.name , packet1.time_usec , packet1.x , packet1.y , packet1.z ); 06042 mavlink_msg_debug_vect_decode(last_msg, &packet2); 06043 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 06044 } 06045 06046 static void mavlink_test_named_value_float(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 06047 { 06048 mavlink_message_t msg; 06049 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 06050 uint16_t i; 06051 mavlink_named_value_float_t packet_in = { 06052 963497464,45.0,"IJKLMNOPQ" 06053 }; 06054 mavlink_named_value_float_t packet1, packet2; 06055 memset(&packet1, 0, sizeof(packet1)); 06056 packet1.time_boot_ms = packet_in.time_boot_ms; 06057 packet1.value = packet_in.value; 06058 06059 mav_array_memcpy(packet1.name, packet_in.name, sizeof(char)*10); 06060 06061 06062 memset(&packet2, 0, sizeof(packet2)); 06063 mavlink_msg_named_value_float_encode(system_id, component_id, &msg, &packet1); 06064 mavlink_msg_named_value_float_decode(&msg, &packet2); 06065 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 06066 06067 memset(&packet2, 0, sizeof(packet2)); 06068 mavlink_msg_named_value_float_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.name , packet1.value ); 06069 mavlink_msg_named_value_float_decode(&msg, &packet2); 06070 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 06071 06072 memset(&packet2, 0, sizeof(packet2)); 06073 mavlink_msg_named_value_float_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.name , packet1.value ); 06074 mavlink_msg_named_value_float_decode(&msg, &packet2); 06075 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 06076 06077 memset(&packet2, 0, sizeof(packet2)); 06078 mavlink_msg_to_send_buffer(buffer, &msg); 06079 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 06080 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 06081 } 06082 mavlink_msg_named_value_float_decode(last_msg, &packet2); 06083 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 06084 06085 memset(&packet2, 0, sizeof(packet2)); 06086 mavlink_msg_named_value_float_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.name , packet1.value ); 06087 mavlink_msg_named_value_float_decode(last_msg, &packet2); 06088 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 06089 } 06090 06091 static void mavlink_test_named_value_int(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 06092 { 06093 mavlink_message_t msg; 06094 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 06095 uint16_t i; 06096 mavlink_named_value_int_t packet_in = { 06097 963497464,963497672,"IJKLMNOPQ" 06098 }; 06099 mavlink_named_value_int_t packet1, packet2; 06100 memset(&packet1, 0, sizeof(packet1)); 06101 packet1.time_boot_ms = packet_in.time_boot_ms; 06102 packet1.value = packet_in.value; 06103 06104 mav_array_memcpy(packet1.name, packet_in.name, sizeof(char)*10); 06105 06106 06107 memset(&packet2, 0, sizeof(packet2)); 06108 mavlink_msg_named_value_int_encode(system_id, component_id, &msg, &packet1); 06109 mavlink_msg_named_value_int_decode(&msg, &packet2); 06110 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 06111 06112 memset(&packet2, 0, sizeof(packet2)); 06113 mavlink_msg_named_value_int_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.name , packet1.value ); 06114 mavlink_msg_named_value_int_decode(&msg, &packet2); 06115 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 06116 06117 memset(&packet2, 0, sizeof(packet2)); 06118 mavlink_msg_named_value_int_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.name , packet1.value ); 06119 mavlink_msg_named_value_int_decode(&msg, &packet2); 06120 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 06121 06122 memset(&packet2, 0, sizeof(packet2)); 06123 mavlink_msg_to_send_buffer(buffer, &msg); 06124 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 06125 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 06126 } 06127 mavlink_msg_named_value_int_decode(last_msg, &packet2); 06128 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 06129 06130 memset(&packet2, 0, sizeof(packet2)); 06131 mavlink_msg_named_value_int_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.name , packet1.value ); 06132 mavlink_msg_named_value_int_decode(last_msg, &packet2); 06133 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 06134 } 06135 06136 static void mavlink_test_statustext(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 06137 { 06138 mavlink_message_t msg; 06139 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 06140 uint16_t i; 06141 mavlink_statustext_t packet_in = { 06142 5,"BCDEFGHIJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWX" 06143 }; 06144 mavlink_statustext_t packet1, packet2; 06145 memset(&packet1, 0, sizeof(packet1)); 06146 packet1.severity = packet_in.severity; 06147 06148 mav_array_memcpy(packet1.text, packet_in.text, sizeof(char)*50); 06149 06150 06151 memset(&packet2, 0, sizeof(packet2)); 06152 mavlink_msg_statustext_encode(system_id, component_id, &msg, &packet1); 06153 mavlink_msg_statustext_decode(&msg, &packet2); 06154 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 06155 06156 memset(&packet2, 0, sizeof(packet2)); 06157 mavlink_msg_statustext_pack(system_id, component_id, &msg , packet1.severity , packet1.text ); 06158 mavlink_msg_statustext_decode(&msg, &packet2); 06159 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 06160 06161 memset(&packet2, 0, sizeof(packet2)); 06162 mavlink_msg_statustext_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.severity , packet1.text ); 06163 mavlink_msg_statustext_decode(&msg, &packet2); 06164 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 06165 06166 memset(&packet2, 0, sizeof(packet2)); 06167 mavlink_msg_to_send_buffer(buffer, &msg); 06168 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 06169 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 06170 } 06171 mavlink_msg_statustext_decode(last_msg, &packet2); 06172 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 06173 06174 memset(&packet2, 0, sizeof(packet2)); 06175 mavlink_msg_statustext_send(MAVLINK_COMM_1 , packet1.severity , packet1.text ); 06176 mavlink_msg_statustext_decode(last_msg, &packet2); 06177 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 06178 } 06179 06180 static void mavlink_test_debug(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 06181 { 06182 mavlink_message_t msg; 06183 uint8_t buffer[MAVLINK_MAX_PACKET_LEN]; 06184 uint16_t i; 06185 mavlink_debug_t packet_in = { 06186 963497464,45.0,29 06187 }; 06188 mavlink_debug_t packet1, packet2; 06189 memset(&packet1, 0, sizeof(packet1)); 06190 packet1.time_boot_ms = packet_in.time_boot_ms; 06191 packet1.value = packet_in.value; 06192 packet1.ind = packet_in.ind; 06193 06194 06195 06196 memset(&packet2, 0, sizeof(packet2)); 06197 mavlink_msg_debug_encode(system_id, component_id, &msg, &packet1); 06198 mavlink_msg_debug_decode(&msg, &packet2); 06199 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 06200 06201 memset(&packet2, 0, sizeof(packet2)); 06202 mavlink_msg_debug_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.ind , packet1.value ); 06203 mavlink_msg_debug_decode(&msg, &packet2); 06204 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 06205 06206 memset(&packet2, 0, sizeof(packet2)); 06207 mavlink_msg_debug_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.ind , packet1.value ); 06208 mavlink_msg_debug_decode(&msg, &packet2); 06209 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 06210 06211 memset(&packet2, 0, sizeof(packet2)); 06212 mavlink_msg_to_send_buffer(buffer, &msg); 06213 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) { 06214 comm_send_ch(MAVLINK_COMM_0, buffer[i]); 06215 } 06216 mavlink_msg_debug_decode(last_msg, &packet2); 06217 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 06218 06219 memset(&packet2, 0, sizeof(packet2)); 06220 mavlink_msg_debug_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.ind , packet1.value ); 06221 mavlink_msg_debug_decode(last_msg, &packet2); 06222 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0); 06223 } 06224 06225 static void mavlink_test_common(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg) 06226 { 06227 mavlink_test_heartbeat(system_id, component_id, last_msg); 06228 mavlink_test_sys_status(system_id, component_id, last_msg); 06229 mavlink_test_system_time(system_id, component_id, last_msg); 06230 mavlink_test_ping(system_id, component_id, last_msg); 06231 mavlink_test_change_operator_control(system_id, component_id, last_msg); 06232 mavlink_test_change_operator_control_ack(system_id, component_id, last_msg); 06233 mavlink_test_auth_key(system_id, component_id, last_msg); 06234 mavlink_test_set_mode(system_id, component_id, last_msg); 06235 mavlink_test_param_request_read(system_id, component_id, last_msg); 06236 mavlink_test_param_request_list(system_id, component_id, last_msg); 06237 mavlink_test_param_value(system_id, component_id, last_msg); 06238 mavlink_test_param_set(system_id, component_id, last_msg); 06239 mavlink_test_gps_raw_int(system_id, component_id, last_msg); 06240 mavlink_test_gps_status(system_id, component_id, last_msg); 06241 mavlink_test_scaled_imu(system_id, component_id, last_msg); 06242 mavlink_test_raw_imu(system_id, component_id, last_msg); 06243 mavlink_test_raw_pressure(system_id, component_id, last_msg); 06244 mavlink_test_scaled_pressure(system_id, component_id, last_msg); 06245 mavlink_test_attitude(system_id, component_id, last_msg); 06246 mavlink_test_attitude_quaternion(system_id, component_id, last_msg); 06247 mavlink_test_local_position_ned(system_id, component_id, last_msg); 06248 mavlink_test_global_position_int(system_id, component_id, last_msg); 06249 mavlink_test_rc_channels_scaled(system_id, component_id, last_msg); 06250 mavlink_test_rc_channels_raw(system_id, component_id, last_msg); 06251 mavlink_test_servo_output_raw(system_id, component_id, last_msg); 06252 mavlink_test_mission_request_partial_list(system_id, component_id, last_msg); 06253 mavlink_test_mission_write_partial_list(system_id, component_id, last_msg); 06254 mavlink_test_mission_item(system_id, component_id, last_msg); 06255 mavlink_test_mission_request(system_id, component_id, last_msg); 06256 mavlink_test_mission_set_current(system_id, component_id, last_msg); 06257 mavlink_test_mission_current(system_id, component_id, last_msg); 06258 mavlink_test_mission_request_list(system_id, component_id, last_msg); 06259 mavlink_test_mission_count(system_id, component_id, last_msg); 06260 mavlink_test_mission_clear_all(system_id, component_id, last_msg); 06261 mavlink_test_mission_item_reached(system_id, component_id, last_msg); 06262 mavlink_test_mission_ack(system_id, component_id, last_msg); 06263 mavlink_test_set_gps_global_origin(system_id, component_id, last_msg); 06264 mavlink_test_gps_global_origin(system_id, component_id, last_msg); 06265 mavlink_test_param_map_rc(system_id, component_id, last_msg); 06266 mavlink_test_safety_set_allowed_area(system_id, component_id, last_msg); 06267 mavlink_test_safety_allowed_area(system_id, component_id, last_msg); 06268 mavlink_test_attitude_quaternion_cov(system_id, component_id, last_msg); 06269 mavlink_test_nav_controller_output(system_id, component_id, last_msg); 06270 mavlink_test_global_position_int_cov(system_id, component_id, last_msg); 06271 mavlink_test_local_position_ned_cov(system_id, component_id, last_msg); 06272 mavlink_test_rc_channels(system_id, component_id, last_msg); 06273 mavlink_test_request_data_stream(system_id, component_id, last_msg); 06274 mavlink_test_data_stream(system_id, component_id, last_msg); 06275 mavlink_test_manual_control(system_id, component_id, last_msg); 06276 mavlink_test_rc_channels_override(system_id, component_id, last_msg); 06277 mavlink_test_mission_item_int(system_id, component_id, last_msg); 06278 mavlink_test_vfr_hud(system_id, component_id, last_msg); 06279 mavlink_test_command_int(system_id, component_id, last_msg); 06280 mavlink_test_command_long(system_id, component_id, last_msg); 06281 mavlink_test_command_ack(system_id, component_id, last_msg); 06282 mavlink_test_manual_setpoint(system_id, component_id, last_msg); 06283 mavlink_test_set_attitude_target(system_id, component_id, last_msg); 06284 mavlink_test_attitude_target(system_id, component_id, last_msg); 06285 mavlink_test_set_position_target_local_ned(system_id, component_id, last_msg); 06286 mavlink_test_position_target_local_ned(system_id, component_id, last_msg); 06287 mavlink_test_set_position_target_global_int(system_id, component_id, last_msg); 06288 mavlink_test_position_target_global_int(system_id, component_id, last_msg); 06289 mavlink_test_local_position_ned_system_global_offset(system_id, component_id, last_msg); 06290 mavlink_test_hil_state(system_id, component_id, last_msg); 06291 mavlink_test_hil_controls(system_id, component_id, last_msg); 06292 mavlink_test_hil_rc_inputs_raw(system_id, component_id, last_msg); 06293 mavlink_test_optical_flow(system_id, component_id, last_msg); 06294 mavlink_test_global_vision_position_estimate(system_id, component_id, last_msg); 06295 mavlink_test_vision_position_estimate(system_id, component_id, last_msg); 06296 mavlink_test_vision_speed_estimate(system_id, component_id, last_msg); 06297 mavlink_test_vicon_position_estimate(system_id, component_id, last_msg); 06298 mavlink_test_highres_imu(system_id, component_id, last_msg); 06299 mavlink_test_optical_flow_rad(system_id, component_id, last_msg); 06300 mavlink_test_hil_sensor(system_id, component_id, last_msg); 06301 mavlink_test_sim_state(system_id, component_id, last_msg); 06302 mavlink_test_radio_status(system_id, component_id, last_msg); 06303 mavlink_test_file_transfer_protocol(system_id, component_id, last_msg); 06304 mavlink_test_timesync(system_id, component_id, last_msg); 06305 mavlink_test_camera_trigger(system_id, component_id, last_msg); 06306 mavlink_test_hil_gps(system_id, component_id, last_msg); 06307 mavlink_test_hil_optical_flow(system_id, component_id, last_msg); 06308 mavlink_test_hil_state_quaternion(system_id, component_id, last_msg); 06309 mavlink_test_scaled_imu2(system_id, component_id, last_msg); 06310 mavlink_test_log_request_list(system_id, component_id, last_msg); 06311 mavlink_test_log_entry(system_id, component_id, last_msg); 06312 mavlink_test_log_request_data(system_id, component_id, last_msg); 06313 mavlink_test_log_data(system_id, component_id, last_msg); 06314 mavlink_test_log_erase(system_id, component_id, last_msg); 06315 mavlink_test_log_request_end(system_id, component_id, last_msg); 06316 mavlink_test_gps_inject_data(system_id, component_id, last_msg); 06317 mavlink_test_gps2_raw(system_id, component_id, last_msg); 06318 mavlink_test_power_status(system_id, component_id, last_msg); 06319 mavlink_test_serial_control(system_id, component_id, last_msg); 06320 mavlink_test_gps_rtk(system_id, component_id, last_msg); 06321 mavlink_test_gps2_rtk(system_id, component_id, last_msg); 06322 mavlink_test_scaled_imu3(system_id, component_id, last_msg); 06323 mavlink_test_data_transmission_handshake(system_id, component_id, last_msg); 06324 mavlink_test_encapsulated_data(system_id, component_id, last_msg); 06325 mavlink_test_distance_sensor(system_id, component_id, last_msg); 06326 mavlink_test_terrain_request(system_id, component_id, last_msg); 06327 mavlink_test_terrain_data(system_id, component_id, last_msg); 06328 mavlink_test_terrain_check(system_id, component_id, last_msg); 06329 mavlink_test_terrain_report(system_id, component_id, last_msg); 06330 mavlink_test_scaled_pressure2(system_id, component_id, last_msg); 06331 mavlink_test_att_pos_mocap(system_id, component_id, last_msg); 06332 mavlink_test_set_actuator_control_target(system_id, component_id, last_msg); 06333 mavlink_test_actuator_control_target(system_id, component_id, last_msg); 06334 mavlink_test_altitude(system_id, component_id, last_msg); 06335 mavlink_test_resource_request(system_id, component_id, last_msg); 06336 mavlink_test_scaled_pressure3(system_id, component_id, last_msg); 06337 mavlink_test_control_system_state(system_id, component_id, last_msg); 06338 mavlink_test_battery_status(system_id, component_id, last_msg); 06339 mavlink_test_autopilot_version(system_id, component_id, last_msg); 06340 mavlink_test_landing_target(system_id, component_id, last_msg); 06341 mavlink_test_vibration(system_id, component_id, last_msg); 06342 mavlink_test_home_position(system_id, component_id, last_msg); 06343 mavlink_test_set_home_position(system_id, component_id, last_msg); 06344 mavlink_test_message_interval(system_id, component_id, last_msg); 06345 mavlink_test_extended_sys_state(system_id, component_id, last_msg); 06346 mavlink_test_v2_extension(system_id, component_id, last_msg); 06347 mavlink_test_memory_vect(system_id, component_id, last_msg); 06348 mavlink_test_debug_vect(system_id, component_id, last_msg); 06349 mavlink_test_named_value_float(system_id, component_id, last_msg); 06350 mavlink_test_named_value_int(system_id, component_id, last_msg); 06351 mavlink_test_statustext(system_id, component_id, last_msg); 06352 mavlink_test_debug(system_id, component_id, last_msg); 06353 } 06354 06355 #ifdef __cplusplus 06356 } 06357 #endif // __cplusplus 06358 #endif // COMMON_TESTSUITE_H