Emaxx Navigation Group / mavlink_emaxx

Mavlink Messages for Emaxx Nav Board

Dependents:   Madpulse_Speed_Control_temp Madpulse_Speed_Control_Students

emaxx_board/testsuite.h@0:bb2cacd02294, 2017-01-20 (annotated)

Committer:
jdawkins
Date:
Fri Jan 20 13:20:58 2017 +0000
Revision:
0:bb2cacd02294
Initial Commit of Mavlink Messages for Emaxx Board custom messages for decawave ranging and bno055;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jdawkins 0:bb2cacd02294 1 /** @file
jdawkins 0:bb2cacd02294 2 * @brief MAVLink comm protocol testsuite generated from emaxx_board.xml
jdawkins 0:bb2cacd02294 3 * @see http://qgroundcontrol.org/mavlink/
jdawkins 0:bb2cacd02294 4 */
jdawkins 0:bb2cacd02294 5 #pragma once
jdawkins 0:bb2cacd02294 6 #ifndef EMAXX_BOARD_TESTSUITE_H
jdawkins 0:bb2cacd02294 7 #define EMAXX_BOARD_TESTSUITE_H
jdawkins 0:bb2cacd02294 8
jdawkins 0:bb2cacd02294 9 #ifdef __cplusplus
jdawkins 0:bb2cacd02294 10 extern "C" {
jdawkins 0:bb2cacd02294 11 #endif
jdawkins 0:bb2cacd02294 12
jdawkins 0:bb2cacd02294 13 #ifndef MAVLINK_TEST_ALL
jdawkins 0:bb2cacd02294 14 #define MAVLINK_TEST_ALL
jdawkins 0:bb2cacd02294 15
jdawkins 0:bb2cacd02294 16 static void mavlink_test_emaxx_board(uint8_t, uint8_t, mavlink_message_t *last_msg);
jdawkins 0:bb2cacd02294 17
jdawkins 0:bb2cacd02294 18 static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
jdawkins 0:bb2cacd02294 19 {
jdawkins 0:bb2cacd02294 20
jdawkins 0:bb2cacd02294 21 mavlink_test_emaxx_board(system_id, component_id, last_msg);
jdawkins 0:bb2cacd02294 22 }
jdawkins 0:bb2cacd02294 23 #endif
jdawkins 0:bb2cacd02294 24
jdawkins 0:bb2cacd02294 25
jdawkins 0:bb2cacd02294 26
jdawkins 0:bb2cacd02294 27
jdawkins 0:bb2cacd02294 28 static void mavlink_test_heartbeat(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
jdawkins 0:bb2cacd02294 29 {
jdawkins 0:bb2cacd02294 30 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
jdawkins 0:bb2cacd02294 31 mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
jdawkins 0:bb2cacd02294 32 if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_HEARTBEAT >= 256) {
jdawkins 0:bb2cacd02294 33 return;
jdawkins 0:bb2cacd02294 34 }
jdawkins 0:bb2cacd02294 35 #endif
jdawkins 0:bb2cacd02294 36 mavlink_message_t msg;
jdawkins 0:bb2cacd02294 37 uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
jdawkins 0:bb2cacd02294 38 uint16_t i;
jdawkins 0:bb2cacd02294 39 mavlink_heartbeat_t packet_in = {
jdawkins 0:bb2cacd02294 40 963497464,17,84,151,218,2
jdawkins 0:bb2cacd02294 41 };
jdawkins 0:bb2cacd02294 42 mavlink_heartbeat_t packet1, packet2;
jdawkins 0:bb2cacd02294 43 memset(&packet1, 0, sizeof(packet1));
jdawkins 0:bb2cacd02294 44 packet1.custom_mode = packet_in.custom_mode;
jdawkins 0:bb2cacd02294 45 packet1.type = packet_in.type;
jdawkins 0:bb2cacd02294 46 packet1.autopilot = packet_in.autopilot;
jdawkins 0:bb2cacd02294 47 packet1.base_mode = packet_in.base_mode;
jdawkins 0:bb2cacd02294 48 packet1.system_status = packet_in.system_status;
jdawkins 0:bb2cacd02294 49 packet1.mavlink_version = packet_in.mavlink_version;
jdawkins 0:bb2cacd02294 50
jdawkins 0:bb2cacd02294 51
jdawkins 0:bb2cacd02294 52 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
jdawkins 0:bb2cacd02294 53 if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
jdawkins 0:bb2cacd02294 54 // cope with extensions
jdawkins 0:bb2cacd02294 55 memset(MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN);
jdawkins 0:bb2cacd02294 56 }
jdawkins 0:bb2cacd02294 57 #endif
jdawkins 0:bb2cacd02294 58 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 59 mavlink_msg_heartbeat_encode(system_id, component_id, &msg, &packet1);
jdawkins 0:bb2cacd02294 60 mavlink_msg_heartbeat_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 61 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 62
jdawkins 0:bb2cacd02294 63 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 64 mavlink_msg_heartbeat_pack(system_id, component_id, &msg , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status );
jdawkins 0:bb2cacd02294 65 mavlink_msg_heartbeat_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 66 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 67
jdawkins 0:bb2cacd02294 68 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 69 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 );
jdawkins 0:bb2cacd02294 70 mavlink_msg_heartbeat_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 71 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 72
jdawkins 0:bb2cacd02294 73 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 74 mavlink_msg_to_send_buffer(buffer, &msg);
jdawkins 0:bb2cacd02294 75 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
jdawkins 0:bb2cacd02294 76 comm_send_ch(MAVLINK_COMM_0, buffer[i]);
jdawkins 0:bb2cacd02294 77 }
jdawkins 0:bb2cacd02294 78 mavlink_msg_heartbeat_decode(last_msg, &packet2);
jdawkins 0:bb2cacd02294 79 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 80
jdawkins 0:bb2cacd02294 81 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 82 mavlink_msg_heartbeat_send(MAVLINK_COMM_1 , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status );
jdawkins 0:bb2cacd02294 83 mavlink_msg_heartbeat_decode(last_msg, &packet2);
jdawkins 0:bb2cacd02294 84 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 85 }
jdawkins 0:bb2cacd02294 86
jdawkins 0:bb2cacd02294 87 static void mavlink_test_sys_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
jdawkins 0:bb2cacd02294 88 {
jdawkins 0:bb2cacd02294 89 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
jdawkins 0:bb2cacd02294 90 mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
jdawkins 0:bb2cacd02294 91 if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_SYS_STATUS >= 256) {
jdawkins 0:bb2cacd02294 92 return;
jdawkins 0:bb2cacd02294 93 }
jdawkins 0:bb2cacd02294 94 #endif
jdawkins 0:bb2cacd02294 95 mavlink_message_t msg;
jdawkins 0:bb2cacd02294 96 uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
jdawkins 0:bb2cacd02294 97 uint16_t i;
jdawkins 0:bb2cacd02294 98 mavlink_sys_status_t packet_in = {
jdawkins 0:bb2cacd02294 99 963497464,963497672,963497880,17859,17963,18067,18171,18275,18379,18483,18587,18691,223
jdawkins 0:bb2cacd02294 100 };
jdawkins 0:bb2cacd02294 101 mavlink_sys_status_t packet1, packet2;
jdawkins 0:bb2cacd02294 102 memset(&packet1, 0, sizeof(packet1));
jdawkins 0:bb2cacd02294 103 packet1.onboard_control_sensors_present = packet_in.onboard_control_sensors_present;
jdawkins 0:bb2cacd02294 104 packet1.onboard_control_sensors_enabled = packet_in.onboard_control_sensors_enabled;
jdawkins 0:bb2cacd02294 105 packet1.onboard_control_sensors_health = packet_in.onboard_control_sensors_health;
jdawkins 0:bb2cacd02294 106 packet1.load = packet_in.load;
jdawkins 0:bb2cacd02294 107 packet1.voltage_battery = packet_in.voltage_battery;
jdawkins 0:bb2cacd02294 108 packet1.current_battery = packet_in.current_battery;
jdawkins 0:bb2cacd02294 109 packet1.drop_rate_comm = packet_in.drop_rate_comm;
jdawkins 0:bb2cacd02294 110 packet1.errors_comm = packet_in.errors_comm;
jdawkins 0:bb2cacd02294 111 packet1.errors_count1 = packet_in.errors_count1;
jdawkins 0:bb2cacd02294 112 packet1.errors_count2 = packet_in.errors_count2;
jdawkins 0:bb2cacd02294 113 packet1.errors_count3 = packet_in.errors_count3;
jdawkins 0:bb2cacd02294 114 packet1.errors_count4 = packet_in.errors_count4;
jdawkins 0:bb2cacd02294 115 packet1.battery_remaining = packet_in.battery_remaining;
jdawkins 0:bb2cacd02294 116
jdawkins 0:bb2cacd02294 117
jdawkins 0:bb2cacd02294 118 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
jdawkins 0:bb2cacd02294 119 if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
jdawkins 0:bb2cacd02294 120 // cope with extensions
jdawkins 0:bb2cacd02294 121 memset(MAVLINK_MSG_ID_SYS_STATUS_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_SYS_STATUS_MIN_LEN);
jdawkins 0:bb2cacd02294 122 }
jdawkins 0:bb2cacd02294 123 #endif
jdawkins 0:bb2cacd02294 124 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 125 mavlink_msg_sys_status_encode(system_id, component_id, &msg, &packet1);
jdawkins 0:bb2cacd02294 126 mavlink_msg_sys_status_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 127 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 128
jdawkins 0:bb2cacd02294 129 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 130 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 );
jdawkins 0:bb2cacd02294 131 mavlink_msg_sys_status_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 132 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 133
jdawkins 0:bb2cacd02294 134 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 135 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 );
jdawkins 0:bb2cacd02294 136 mavlink_msg_sys_status_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 137 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 138
jdawkins 0:bb2cacd02294 139 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 140 mavlink_msg_to_send_buffer(buffer, &msg);
jdawkins 0:bb2cacd02294 141 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
jdawkins 0:bb2cacd02294 142 comm_send_ch(MAVLINK_COMM_0, buffer[i]);
jdawkins 0:bb2cacd02294 143 }
jdawkins 0:bb2cacd02294 144 mavlink_msg_sys_status_decode(last_msg, &packet2);
jdawkins 0:bb2cacd02294 145 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 146
jdawkins 0:bb2cacd02294 147 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 148 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 );
jdawkins 0:bb2cacd02294 149 mavlink_msg_sys_status_decode(last_msg, &packet2);
jdawkins 0:bb2cacd02294 150 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 151 }
jdawkins 0:bb2cacd02294 152
jdawkins 0:bb2cacd02294 153 static void mavlink_test_system_time(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
jdawkins 0:bb2cacd02294 154 {
jdawkins 0:bb2cacd02294 155 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
jdawkins 0:bb2cacd02294 156 mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
jdawkins 0:bb2cacd02294 157 if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_SYSTEM_TIME >= 256) {
jdawkins 0:bb2cacd02294 158 return;
jdawkins 0:bb2cacd02294 159 }
jdawkins 0:bb2cacd02294 160 #endif
jdawkins 0:bb2cacd02294 161 mavlink_message_t msg;
jdawkins 0:bb2cacd02294 162 uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
jdawkins 0:bb2cacd02294 163 uint16_t i;
jdawkins 0:bb2cacd02294 164 mavlink_system_time_t packet_in = {
jdawkins 0:bb2cacd02294 165 93372036854775807ULL,963497880
jdawkins 0:bb2cacd02294 166 };
jdawkins 0:bb2cacd02294 167 mavlink_system_time_t packet1, packet2;
jdawkins 0:bb2cacd02294 168 memset(&packet1, 0, sizeof(packet1));
jdawkins 0:bb2cacd02294 169 packet1.time_unix_usec = packet_in.time_unix_usec;
jdawkins 0:bb2cacd02294 170 packet1.time_boot_ms = packet_in.time_boot_ms;
jdawkins 0:bb2cacd02294 171
jdawkins 0:bb2cacd02294 172
jdawkins 0:bb2cacd02294 173 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
jdawkins 0:bb2cacd02294 174 if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
jdawkins 0:bb2cacd02294 175 // cope with extensions
jdawkins 0:bb2cacd02294 176 memset(MAVLINK_MSG_ID_SYSTEM_TIME_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_SYSTEM_TIME_MIN_LEN);
jdawkins 0:bb2cacd02294 177 }
jdawkins 0:bb2cacd02294 178 #endif
jdawkins 0:bb2cacd02294 179 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 180 mavlink_msg_system_time_encode(system_id, component_id, &msg, &packet1);
jdawkins 0:bb2cacd02294 181 mavlink_msg_system_time_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 182 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 183
jdawkins 0:bb2cacd02294 184 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 185 mavlink_msg_system_time_pack(system_id, component_id, &msg , packet1.time_unix_usec , packet1.time_boot_ms );
jdawkins 0:bb2cacd02294 186 mavlink_msg_system_time_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 187 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 188
jdawkins 0:bb2cacd02294 189 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 190 mavlink_msg_system_time_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_unix_usec , packet1.time_boot_ms );
jdawkins 0:bb2cacd02294 191 mavlink_msg_system_time_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 192 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 193
jdawkins 0:bb2cacd02294 194 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 195 mavlink_msg_to_send_buffer(buffer, &msg);
jdawkins 0:bb2cacd02294 196 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
jdawkins 0:bb2cacd02294 197 comm_send_ch(MAVLINK_COMM_0, buffer[i]);
jdawkins 0:bb2cacd02294 198 }
jdawkins 0:bb2cacd02294 199 mavlink_msg_system_time_decode(last_msg, &packet2);
jdawkins 0:bb2cacd02294 200 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 201
jdawkins 0:bb2cacd02294 202 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 203 mavlink_msg_system_time_send(MAVLINK_COMM_1 , packet1.time_unix_usec , packet1.time_boot_ms );
jdawkins 0:bb2cacd02294 204 mavlink_msg_system_time_decode(last_msg, &packet2);
jdawkins 0:bb2cacd02294 205 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 206 }
jdawkins 0:bb2cacd02294 207
jdawkins 0:bb2cacd02294 208 static void mavlink_test_gps_raw_int(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
jdawkins 0:bb2cacd02294 209 {
jdawkins 0:bb2cacd02294 210 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
jdawkins 0:bb2cacd02294 211 mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
jdawkins 0:bb2cacd02294 212 if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_GPS_RAW_INT >= 256) {
jdawkins 0:bb2cacd02294 213 return;
jdawkins 0:bb2cacd02294 214 }
jdawkins 0:bb2cacd02294 215 #endif
jdawkins 0:bb2cacd02294 216 mavlink_message_t msg;
jdawkins 0:bb2cacd02294 217 uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
jdawkins 0:bb2cacd02294 218 uint16_t i;
jdawkins 0:bb2cacd02294 219 mavlink_gps_raw_int_t packet_in = {
jdawkins 0:bb2cacd02294 220 93372036854775807ULL,963497880,963498088,963498296,18275,18379,18483,18587,89,156
jdawkins 0:bb2cacd02294 221 };
jdawkins 0:bb2cacd02294 222 mavlink_gps_raw_int_t packet1, packet2;
jdawkins 0:bb2cacd02294 223 memset(&packet1, 0, sizeof(packet1));
jdawkins 0:bb2cacd02294 224 packet1.time_usec = packet_in.time_usec;
jdawkins 0:bb2cacd02294 225 packet1.lat = packet_in.lat;
jdawkins 0:bb2cacd02294 226 packet1.lon = packet_in.lon;
jdawkins 0:bb2cacd02294 227 packet1.alt = packet_in.alt;
jdawkins 0:bb2cacd02294 228 packet1.eph = packet_in.eph;
jdawkins 0:bb2cacd02294 229 packet1.epv = packet_in.epv;
jdawkins 0:bb2cacd02294 230 packet1.vel = packet_in.vel;
jdawkins 0:bb2cacd02294 231 packet1.cog = packet_in.cog;
jdawkins 0:bb2cacd02294 232 packet1.fix_type = packet_in.fix_type;
jdawkins 0:bb2cacd02294 233 packet1.satellites_visible = packet_in.satellites_visible;
jdawkins 0:bb2cacd02294 234
jdawkins 0:bb2cacd02294 235
jdawkins 0:bb2cacd02294 236 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
jdawkins 0:bb2cacd02294 237 if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
jdawkins 0:bb2cacd02294 238 // cope with extensions
jdawkins 0:bb2cacd02294 239 memset(MAVLINK_MSG_ID_GPS_RAW_INT_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_GPS_RAW_INT_MIN_LEN);
jdawkins 0:bb2cacd02294 240 }
jdawkins 0:bb2cacd02294 241 #endif
jdawkins 0:bb2cacd02294 242 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 243 mavlink_msg_gps_raw_int_encode(system_id, component_id, &msg, &packet1);
jdawkins 0:bb2cacd02294 244 mavlink_msg_gps_raw_int_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 245 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 246
jdawkins 0:bb2cacd02294 247 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 248 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 );
jdawkins 0:bb2cacd02294 249 mavlink_msg_gps_raw_int_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 250 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 251
jdawkins 0:bb2cacd02294 252 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 253 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 );
jdawkins 0:bb2cacd02294 254 mavlink_msg_gps_raw_int_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 255 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 256
jdawkins 0:bb2cacd02294 257 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 258 mavlink_msg_to_send_buffer(buffer, &msg);
jdawkins 0:bb2cacd02294 259 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
jdawkins 0:bb2cacd02294 260 comm_send_ch(MAVLINK_COMM_0, buffer[i]);
jdawkins 0:bb2cacd02294 261 }
jdawkins 0:bb2cacd02294 262 mavlink_msg_gps_raw_int_decode(last_msg, &packet2);
jdawkins 0:bb2cacd02294 263 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 264
jdawkins 0:bb2cacd02294 265 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 266 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 );
jdawkins 0:bb2cacd02294 267 mavlink_msg_gps_raw_int_decode(last_msg, &packet2);
jdawkins 0:bb2cacd02294 268 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 269 }
jdawkins 0:bb2cacd02294 270
jdawkins 0:bb2cacd02294 271 static void mavlink_test_scaled_imu(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
jdawkins 0:bb2cacd02294 272 {
jdawkins 0:bb2cacd02294 273 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
jdawkins 0:bb2cacd02294 274 mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
jdawkins 0:bb2cacd02294 275 if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_SCALED_IMU >= 256) {
jdawkins 0:bb2cacd02294 276 return;
jdawkins 0:bb2cacd02294 277 }
jdawkins 0:bb2cacd02294 278 #endif
jdawkins 0:bb2cacd02294 279 mavlink_message_t msg;
jdawkins 0:bb2cacd02294 280 uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
jdawkins 0:bb2cacd02294 281 uint16_t i;
jdawkins 0:bb2cacd02294 282 mavlink_scaled_imu_t packet_in = {
jdawkins 0:bb2cacd02294 283 963497464,17443,17547,17651,17755,17859,17963,18067,18171,18275
jdawkins 0:bb2cacd02294 284 };
jdawkins 0:bb2cacd02294 285 mavlink_scaled_imu_t packet1, packet2;
jdawkins 0:bb2cacd02294 286 memset(&packet1, 0, sizeof(packet1));
jdawkins 0:bb2cacd02294 287 packet1.time_boot_ms = packet_in.time_boot_ms;
jdawkins 0:bb2cacd02294 288 packet1.xacc = packet_in.xacc;
jdawkins 0:bb2cacd02294 289 packet1.yacc = packet_in.yacc;
jdawkins 0:bb2cacd02294 290 packet1.zacc = packet_in.zacc;
jdawkins 0:bb2cacd02294 291 packet1.xgyro = packet_in.xgyro;
jdawkins 0:bb2cacd02294 292 packet1.ygyro = packet_in.ygyro;
jdawkins 0:bb2cacd02294 293 packet1.zgyro = packet_in.zgyro;
jdawkins 0:bb2cacd02294 294 packet1.xmag = packet_in.xmag;
jdawkins 0:bb2cacd02294 295 packet1.ymag = packet_in.ymag;
jdawkins 0:bb2cacd02294 296 packet1.zmag = packet_in.zmag;
jdawkins 0:bb2cacd02294 297
jdawkins 0:bb2cacd02294 298
jdawkins 0:bb2cacd02294 299 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
jdawkins 0:bb2cacd02294 300 if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
jdawkins 0:bb2cacd02294 301 // cope with extensions
jdawkins 0:bb2cacd02294 302 memset(MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN);
jdawkins 0:bb2cacd02294 303 }
jdawkins 0:bb2cacd02294 304 #endif
jdawkins 0:bb2cacd02294 305 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 306 mavlink_msg_scaled_imu_encode(system_id, component_id, &msg, &packet1);
jdawkins 0:bb2cacd02294 307 mavlink_msg_scaled_imu_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 308 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 309
jdawkins 0:bb2cacd02294 310 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 311 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 );
jdawkins 0:bb2cacd02294 312 mavlink_msg_scaled_imu_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 313 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 314
jdawkins 0:bb2cacd02294 315 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 316 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 );
jdawkins 0:bb2cacd02294 317 mavlink_msg_scaled_imu_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 318 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 319
jdawkins 0:bb2cacd02294 320 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 321 mavlink_msg_to_send_buffer(buffer, &msg);
jdawkins 0:bb2cacd02294 322 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
jdawkins 0:bb2cacd02294 323 comm_send_ch(MAVLINK_COMM_0, buffer[i]);
jdawkins 0:bb2cacd02294 324 }
jdawkins 0:bb2cacd02294 325 mavlink_msg_scaled_imu_decode(last_msg, &packet2);
jdawkins 0:bb2cacd02294 326 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 327
jdawkins 0:bb2cacd02294 328 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 329 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 );
jdawkins 0:bb2cacd02294 330 mavlink_msg_scaled_imu_decode(last_msg, &packet2);
jdawkins 0:bb2cacd02294 331 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 332 }
jdawkins 0:bb2cacd02294 333
jdawkins 0:bb2cacd02294 334 static void mavlink_test_attitude(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
jdawkins 0:bb2cacd02294 335 {
jdawkins 0:bb2cacd02294 336 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
jdawkins 0:bb2cacd02294 337 mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
jdawkins 0:bb2cacd02294 338 if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_ATTITUDE >= 256) {
jdawkins 0:bb2cacd02294 339 return;
jdawkins 0:bb2cacd02294 340 }
jdawkins 0:bb2cacd02294 341 #endif
jdawkins 0:bb2cacd02294 342 mavlink_message_t msg;
jdawkins 0:bb2cacd02294 343 uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
jdawkins 0:bb2cacd02294 344 uint16_t i;
jdawkins 0:bb2cacd02294 345 mavlink_attitude_t packet_in = {
jdawkins 0:bb2cacd02294 346 963497464,45.0,73.0,101.0,129.0,157.0,185.0
jdawkins 0:bb2cacd02294 347 };
jdawkins 0:bb2cacd02294 348 mavlink_attitude_t packet1, packet2;
jdawkins 0:bb2cacd02294 349 memset(&packet1, 0, sizeof(packet1));
jdawkins 0:bb2cacd02294 350 packet1.time_boot_ms = packet_in.time_boot_ms;
jdawkins 0:bb2cacd02294 351 packet1.roll = packet_in.roll;
jdawkins 0:bb2cacd02294 352 packet1.pitch = packet_in.pitch;
jdawkins 0:bb2cacd02294 353 packet1.yaw = packet_in.yaw;
jdawkins 0:bb2cacd02294 354 packet1.rollspeed = packet_in.rollspeed;
jdawkins 0:bb2cacd02294 355 packet1.pitchspeed = packet_in.pitchspeed;
jdawkins 0:bb2cacd02294 356 packet1.yawspeed = packet_in.yawspeed;
jdawkins 0:bb2cacd02294 357
jdawkins 0:bb2cacd02294 358
jdawkins 0:bb2cacd02294 359 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
jdawkins 0:bb2cacd02294 360 if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
jdawkins 0:bb2cacd02294 361 // cope with extensions
jdawkins 0:bb2cacd02294 362 memset(MAVLINK_MSG_ID_ATTITUDE_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_ATTITUDE_MIN_LEN);
jdawkins 0:bb2cacd02294 363 }
jdawkins 0:bb2cacd02294 364 #endif
jdawkins 0:bb2cacd02294 365 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 366 mavlink_msg_attitude_encode(system_id, component_id, &msg, &packet1);
jdawkins 0:bb2cacd02294 367 mavlink_msg_attitude_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 368 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 369
jdawkins 0:bb2cacd02294 370 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 371 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 );
jdawkins 0:bb2cacd02294 372 mavlink_msg_attitude_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 373 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 374
jdawkins 0:bb2cacd02294 375 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 376 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 );
jdawkins 0:bb2cacd02294 377 mavlink_msg_attitude_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 378 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 379
jdawkins 0:bb2cacd02294 380 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 381 mavlink_msg_to_send_buffer(buffer, &msg);
jdawkins 0:bb2cacd02294 382 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
jdawkins 0:bb2cacd02294 383 comm_send_ch(MAVLINK_COMM_0, buffer[i]);
jdawkins 0:bb2cacd02294 384 }
jdawkins 0:bb2cacd02294 385 mavlink_msg_attitude_decode(last_msg, &packet2);
jdawkins 0:bb2cacd02294 386 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 387
jdawkins 0:bb2cacd02294 388 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 389 mavlink_msg_attitude_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed );
jdawkins 0:bb2cacd02294 390 mavlink_msg_attitude_decode(last_msg, &packet2);
jdawkins 0:bb2cacd02294 391 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 392 }
jdawkins 0:bb2cacd02294 393
jdawkins 0:bb2cacd02294 394 static void mavlink_test_attitude_quaternion(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
jdawkins 0:bb2cacd02294 395 {
jdawkins 0:bb2cacd02294 396 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
jdawkins 0:bb2cacd02294 397 mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
jdawkins 0:bb2cacd02294 398 if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_ATTITUDE_QUATERNION >= 256) {
jdawkins 0:bb2cacd02294 399 return;
jdawkins 0:bb2cacd02294 400 }
jdawkins 0:bb2cacd02294 401 #endif
jdawkins 0:bb2cacd02294 402 mavlink_message_t msg;
jdawkins 0:bb2cacd02294 403 uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
jdawkins 0:bb2cacd02294 404 uint16_t i;
jdawkins 0:bb2cacd02294 405 mavlink_attitude_quaternion_t packet_in = {
jdawkins 0:bb2cacd02294 406 963497464,45.0,73.0,101.0,129.0,157.0,185.0,213.0
jdawkins 0:bb2cacd02294 407 };
jdawkins 0:bb2cacd02294 408 mavlink_attitude_quaternion_t packet1, packet2;
jdawkins 0:bb2cacd02294 409 memset(&packet1, 0, sizeof(packet1));
jdawkins 0:bb2cacd02294 410 packet1.time_boot_ms = packet_in.time_boot_ms;
jdawkins 0:bb2cacd02294 411 packet1.q1 = packet_in.q1;
jdawkins 0:bb2cacd02294 412 packet1.q2 = packet_in.q2;
jdawkins 0:bb2cacd02294 413 packet1.q3 = packet_in.q3;
jdawkins 0:bb2cacd02294 414 packet1.q4 = packet_in.q4;
jdawkins 0:bb2cacd02294 415 packet1.rollspeed = packet_in.rollspeed;
jdawkins 0:bb2cacd02294 416 packet1.pitchspeed = packet_in.pitchspeed;
jdawkins 0:bb2cacd02294 417 packet1.yawspeed = packet_in.yawspeed;
jdawkins 0:bb2cacd02294 418
jdawkins 0:bb2cacd02294 419
jdawkins 0:bb2cacd02294 420 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
jdawkins 0:bb2cacd02294 421 if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
jdawkins 0:bb2cacd02294 422 // cope with extensions
jdawkins 0:bb2cacd02294 423 memset(MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN);
jdawkins 0:bb2cacd02294 424 }
jdawkins 0:bb2cacd02294 425 #endif
jdawkins 0:bb2cacd02294 426 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 427 mavlink_msg_attitude_quaternion_encode(system_id, component_id, &msg, &packet1);
jdawkins 0:bb2cacd02294 428 mavlink_msg_attitude_quaternion_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 429 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 430
jdawkins 0:bb2cacd02294 431 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 432 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 );
jdawkins 0:bb2cacd02294 433 mavlink_msg_attitude_quaternion_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 434 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 435
jdawkins 0:bb2cacd02294 436 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 437 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 );
jdawkins 0:bb2cacd02294 438 mavlink_msg_attitude_quaternion_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 439 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 440
jdawkins 0:bb2cacd02294 441 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 442 mavlink_msg_to_send_buffer(buffer, &msg);
jdawkins 0:bb2cacd02294 443 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
jdawkins 0:bb2cacd02294 444 comm_send_ch(MAVLINK_COMM_0, buffer[i]);
jdawkins 0:bb2cacd02294 445 }
jdawkins 0:bb2cacd02294 446 mavlink_msg_attitude_quaternion_decode(last_msg, &packet2);
jdawkins 0:bb2cacd02294 447 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 448
jdawkins 0:bb2cacd02294 449 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 450 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 );
jdawkins 0:bb2cacd02294 451 mavlink_msg_attitude_quaternion_decode(last_msg, &packet2);
jdawkins 0:bb2cacd02294 452 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 453 }
jdawkins 0:bb2cacd02294 454
jdawkins 0:bb2cacd02294 455 static void mavlink_test_local_position_ned(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
jdawkins 0:bb2cacd02294 456 {
jdawkins 0:bb2cacd02294 457 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
jdawkins 0:bb2cacd02294 458 mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
jdawkins 0:bb2cacd02294 459 if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_LOCAL_POSITION_NED >= 256) {
jdawkins 0:bb2cacd02294 460 return;
jdawkins 0:bb2cacd02294 461 }
jdawkins 0:bb2cacd02294 462 #endif
jdawkins 0:bb2cacd02294 463 mavlink_message_t msg;
jdawkins 0:bb2cacd02294 464 uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
jdawkins 0:bb2cacd02294 465 uint16_t i;
jdawkins 0:bb2cacd02294 466 mavlink_local_position_ned_t packet_in = {
jdawkins 0:bb2cacd02294 467 963497464,45.0,73.0,101.0,129.0,157.0,185.0
jdawkins 0:bb2cacd02294 468 };
jdawkins 0:bb2cacd02294 469 mavlink_local_position_ned_t packet1, packet2;
jdawkins 0:bb2cacd02294 470 memset(&packet1, 0, sizeof(packet1));
jdawkins 0:bb2cacd02294 471 packet1.time_boot_ms = packet_in.time_boot_ms;
jdawkins 0:bb2cacd02294 472 packet1.x = packet_in.x;
jdawkins 0:bb2cacd02294 473 packet1.y = packet_in.y;
jdawkins 0:bb2cacd02294 474 packet1.z = packet_in.z;
jdawkins 0:bb2cacd02294 475 packet1.vx = packet_in.vx;
jdawkins 0:bb2cacd02294 476 packet1.vy = packet_in.vy;
jdawkins 0:bb2cacd02294 477 packet1.vz = packet_in.vz;
jdawkins 0:bb2cacd02294 478
jdawkins 0:bb2cacd02294 479
jdawkins 0:bb2cacd02294 480 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
jdawkins 0:bb2cacd02294 481 if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
jdawkins 0:bb2cacd02294 482 // cope with extensions
jdawkins 0:bb2cacd02294 483 memset(MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN);
jdawkins 0:bb2cacd02294 484 }
jdawkins 0:bb2cacd02294 485 #endif
jdawkins 0:bb2cacd02294 486 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 487 mavlink_msg_local_position_ned_encode(system_id, component_id, &msg, &packet1);
jdawkins 0:bb2cacd02294 488 mavlink_msg_local_position_ned_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 489 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 490
jdawkins 0:bb2cacd02294 491 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 492 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 );
jdawkins 0:bb2cacd02294 493 mavlink_msg_local_position_ned_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 494 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 495
jdawkins 0:bb2cacd02294 496 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 497 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 );
jdawkins 0:bb2cacd02294 498 mavlink_msg_local_position_ned_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 499 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 500
jdawkins 0:bb2cacd02294 501 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 502 mavlink_msg_to_send_buffer(buffer, &msg);
jdawkins 0:bb2cacd02294 503 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
jdawkins 0:bb2cacd02294 504 comm_send_ch(MAVLINK_COMM_0, buffer[i]);
jdawkins 0:bb2cacd02294 505 }
jdawkins 0:bb2cacd02294 506 mavlink_msg_local_position_ned_decode(last_msg, &packet2);
jdawkins 0:bb2cacd02294 507 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 508
jdawkins 0:bb2cacd02294 509 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 510 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 );
jdawkins 0:bb2cacd02294 511 mavlink_msg_local_position_ned_decode(last_msg, &packet2);
jdawkins 0:bb2cacd02294 512 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 513 }
jdawkins 0:bb2cacd02294 514
jdawkins 0:bb2cacd02294 515 static void mavlink_test_range_to_node(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
jdawkins 0:bb2cacd02294 516 {
jdawkins 0:bb2cacd02294 517 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
jdawkins 0:bb2cacd02294 518 mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
jdawkins 0:bb2cacd02294 519 if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_RANGE_TO_NODE >= 256) {
jdawkins 0:bb2cacd02294 520 return;
jdawkins 0:bb2cacd02294 521 }
jdawkins 0:bb2cacd02294 522 #endif
jdawkins 0:bb2cacd02294 523 mavlink_message_t msg;
jdawkins 0:bb2cacd02294 524 uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
jdawkins 0:bb2cacd02294 525 uint16_t i;
jdawkins 0:bb2cacd02294 526 mavlink_range_to_node_t packet_in = {
jdawkins 0:bb2cacd02294 527 963497464,45.0,29,96
jdawkins 0:bb2cacd02294 528 };
jdawkins 0:bb2cacd02294 529 mavlink_range_to_node_t packet1, packet2;
jdawkins 0:bb2cacd02294 530 memset(&packet1, 0, sizeof(packet1));
jdawkins 0:bb2cacd02294 531 packet1.time_boot_ms = packet_in.time_boot_ms;
jdawkins 0:bb2cacd02294 532 packet1.range = packet_in.range;
jdawkins 0:bb2cacd02294 533 packet1.my_id = packet_in.my_id;
jdawkins 0:bb2cacd02294 534 packet1.tgt_id = packet_in.tgt_id;
jdawkins 0:bb2cacd02294 535
jdawkins 0:bb2cacd02294 536
jdawkins 0:bb2cacd02294 537 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
jdawkins 0:bb2cacd02294 538 if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
jdawkins 0:bb2cacd02294 539 // cope with extensions
jdawkins 0:bb2cacd02294 540 memset(MAVLINK_MSG_ID_RANGE_TO_NODE_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_RANGE_TO_NODE_MIN_LEN);
jdawkins 0:bb2cacd02294 541 }
jdawkins 0:bb2cacd02294 542 #endif
jdawkins 0:bb2cacd02294 543 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 544 mavlink_msg_range_to_node_encode(system_id, component_id, &msg, &packet1);
jdawkins 0:bb2cacd02294 545 mavlink_msg_range_to_node_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 546 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 547
jdawkins 0:bb2cacd02294 548 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 549 mavlink_msg_range_to_node_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.my_id , packet1.tgt_id , packet1.range );
jdawkins 0:bb2cacd02294 550 mavlink_msg_range_to_node_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 551 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 552
jdawkins 0:bb2cacd02294 553 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 554 mavlink_msg_range_to_node_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.my_id , packet1.tgt_id , packet1.range );
jdawkins 0:bb2cacd02294 555 mavlink_msg_range_to_node_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 556 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 557
jdawkins 0:bb2cacd02294 558 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 559 mavlink_msg_to_send_buffer(buffer, &msg);
jdawkins 0:bb2cacd02294 560 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
jdawkins 0:bb2cacd02294 561 comm_send_ch(MAVLINK_COMM_0, buffer[i]);
jdawkins 0:bb2cacd02294 562 }
jdawkins 0:bb2cacd02294 563 mavlink_msg_range_to_node_decode(last_msg, &packet2);
jdawkins 0:bb2cacd02294 564 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 565
jdawkins 0:bb2cacd02294 566 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 567 mavlink_msg_range_to_node_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.my_id , packet1.tgt_id , packet1.range );
jdawkins 0:bb2cacd02294 568 mavlink_msg_range_to_node_decode(last_msg, &packet2);
jdawkins 0:bb2cacd02294 569 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 570 }
jdawkins 0:bb2cacd02294 571
jdawkins 0:bb2cacd02294 572 static void mavlink_test_fused_imu(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
jdawkins 0:bb2cacd02294 573 {
jdawkins 0:bb2cacd02294 574 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
jdawkins 0:bb2cacd02294 575 mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
jdawkins 0:bb2cacd02294 576 if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_FUSED_IMU >= 256) {
jdawkins 0:bb2cacd02294 577 return;
jdawkins 0:bb2cacd02294 578 }
jdawkins 0:bb2cacd02294 579 #endif
jdawkins 0:bb2cacd02294 580 mavlink_message_t msg;
jdawkins 0:bb2cacd02294 581 uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
jdawkins 0:bb2cacd02294 582 uint16_t i;
jdawkins 0:bb2cacd02294 583 mavlink_fused_imu_t packet_in = {
jdawkins 0:bb2cacd02294 584 963497464,45.0,73.0,101.0,129.0,157.0,185.0,213.0,241.0,269.0
jdawkins 0:bb2cacd02294 585 };
jdawkins 0:bb2cacd02294 586 mavlink_fused_imu_t packet1, packet2;
jdawkins 0:bb2cacd02294 587 memset(&packet1, 0, sizeof(packet1));
jdawkins 0:bb2cacd02294 588 packet1.time_boot_ms = packet_in.time_boot_ms;
jdawkins 0:bb2cacd02294 589 packet1.accel_x = packet_in.accel_x;
jdawkins 0:bb2cacd02294 590 packet1.accel_y = packet_in.accel_y;
jdawkins 0:bb2cacd02294 591 packet1.accel_z = packet_in.accel_z;
jdawkins 0:bb2cacd02294 592 packet1.gyro_x = packet_in.gyro_x;
jdawkins 0:bb2cacd02294 593 packet1.gyro_y = packet_in.gyro_y;
jdawkins 0:bb2cacd02294 594 packet1.gyro_z = packet_in.gyro_z;
jdawkins 0:bb2cacd02294 595 packet1.roll = packet_in.roll;
jdawkins 0:bb2cacd02294 596 packet1.pitch = packet_in.pitch;
jdawkins 0:bb2cacd02294 597 packet1.yaw = packet_in.yaw;
jdawkins 0:bb2cacd02294 598
jdawkins 0:bb2cacd02294 599
jdawkins 0:bb2cacd02294 600 #ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
jdawkins 0:bb2cacd02294 601 if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
jdawkins 0:bb2cacd02294 602 // cope with extensions
jdawkins 0:bb2cacd02294 603 memset(MAVLINK_MSG_ID_FUSED_IMU_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_FUSED_IMU_MIN_LEN);
jdawkins 0:bb2cacd02294 604 }
jdawkins 0:bb2cacd02294 605 #endif
jdawkins 0:bb2cacd02294 606 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 607 mavlink_msg_fused_imu_encode(system_id, component_id, &msg, &packet1);
jdawkins 0:bb2cacd02294 608 mavlink_msg_fused_imu_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 609 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 610
jdawkins 0:bb2cacd02294 611 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 612 mavlink_msg_fused_imu_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.accel_x , packet1.accel_y , packet1.accel_z , packet1.gyro_x , packet1.gyro_y , packet1.gyro_z , packet1.roll , packet1.pitch , packet1.yaw );
jdawkins 0:bb2cacd02294 613 mavlink_msg_fused_imu_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 614 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 615
jdawkins 0:bb2cacd02294 616 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 617 mavlink_msg_fused_imu_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.accel_x , packet1.accel_y , packet1.accel_z , packet1.gyro_x , packet1.gyro_y , packet1.gyro_z , packet1.roll , packet1.pitch , packet1.yaw );
jdawkins 0:bb2cacd02294 618 mavlink_msg_fused_imu_decode(&msg, &packet2);
jdawkins 0:bb2cacd02294 619 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 620
jdawkins 0:bb2cacd02294 621 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 622 mavlink_msg_to_send_buffer(buffer, &msg);
jdawkins 0:bb2cacd02294 623 for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
jdawkins 0:bb2cacd02294 624 comm_send_ch(MAVLINK_COMM_0, buffer[i]);
jdawkins 0:bb2cacd02294 625 }
jdawkins 0:bb2cacd02294 626 mavlink_msg_fused_imu_decode(last_msg, &packet2);
jdawkins 0:bb2cacd02294 627 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 628
jdawkins 0:bb2cacd02294 629 memset(&packet2, 0, sizeof(packet2));
jdawkins 0:bb2cacd02294 630 mavlink_msg_fused_imu_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.accel_x , packet1.accel_y , packet1.accel_z , packet1.gyro_x , packet1.gyro_y , packet1.gyro_z , packet1.roll , packet1.pitch , packet1.yaw );
jdawkins 0:bb2cacd02294 631 mavlink_msg_fused_imu_decode(last_msg, &packet2);
jdawkins 0:bb2cacd02294 632 MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
jdawkins 0:bb2cacd02294 633 }
jdawkins 0:bb2cacd02294 634
jdawkins 0:bb2cacd02294 635 static void mavlink_test_emaxx_board(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
jdawkins 0:bb2cacd02294 636 {
jdawkins 0:bb2cacd02294 637 mavlink_test_heartbeat(system_id, component_id, last_msg);
jdawkins 0:bb2cacd02294 638 mavlink_test_sys_status(system_id, component_id, last_msg);
jdawkins 0:bb2cacd02294 639 mavlink_test_system_time(system_id, component_id, last_msg);
jdawkins 0:bb2cacd02294 640 mavlink_test_gps_raw_int(system_id, component_id, last_msg);
jdawkins 0:bb2cacd02294 641 mavlink_test_scaled_imu(system_id, component_id, last_msg);
jdawkins 0:bb2cacd02294 642 mavlink_test_attitude(system_id, component_id, last_msg);
jdawkins 0:bb2cacd02294 643 mavlink_test_attitude_quaternion(system_id, component_id, last_msg);
jdawkins 0:bb2cacd02294 644 mavlink_test_local_position_ned(system_id, component_id, last_msg);
jdawkins 0:bb2cacd02294 645 mavlink_test_range_to_node(system_id, component_id, last_msg);
jdawkins 0:bb2cacd02294 646 mavlink_test_fused_imu(system_id, component_id, last_msg);
jdawkins 0:bb2cacd02294 647 }
jdawkins 0:bb2cacd02294 648
jdawkins 0:bb2cacd02294 649 #ifdef __cplusplus
jdawkins 0:bb2cacd02294 650 }
jdawkins 0:bb2cacd02294 651 #endif // __cplusplus
jdawkins 0:bb2cacd02294 652 #endif // EMAXX_BOARD_TESTSUITE_H
jdawkins 0:bb2cacd02294 653