File content as of revision 1:7e9af9a921f7:

/** @file
 *    @brief MAVLink comm protocol testsuite generated from emaxx_board.xml
 *    @see http://qgroundcontrol.org/mavlink/
 */
#pragma once
#ifndef EMAXX_BOARD_TESTSUITE_H
#define EMAXX_BOARD_TESTSUITE_H

#ifdef __cplusplus
extern "C" {
#endif

#ifndef MAVLINK_TEST_ALL
#define MAVLINK_TEST_ALL

static void mavlink_test_emaxx_board(uint8_t, uint8_t, mavlink_message_t *last_msg);

static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{

    mavlink_test_emaxx_board(system_id, component_id, last_msg);
}
#endif




static void mavlink_test_heartbeat(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
    mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
        if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_HEARTBEAT >= 256) {
            return;
        }
#endif
    mavlink_message_t msg;
        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
        uint16_t i;
    mavlink_heartbeat_t packet_in = {
        963497464,17,84,151,218,2
    };
    mavlink_heartbeat_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
        packet1.custom_mode = packet_in.custom_mode;
        packet1.type = packet_in.type;
        packet1.autopilot = packet_in.autopilot;
        packet1.base_mode = packet_in.base_mode;
        packet1.system_status = packet_in.system_status;
        packet1.mavlink_version = packet_in.mavlink_version;
        
        
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
        if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
           // cope with extensions
           memset(MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_HEARTBEAT_MIN_LEN);
        }
#endif
        memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_heartbeat_encode(system_id, component_id, &msg, &packet1);
    mavlink_msg_heartbeat_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_heartbeat_pack(system_id, component_id, &msg , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status );
    mavlink_msg_heartbeat_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
    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 );
    mavlink_msg_heartbeat_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
        mavlink_msg_to_send_buffer(buffer, &msg);
        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
            comm_send_ch(MAVLINK_COMM_0, buffer[i]);
        }
    mavlink_msg_heartbeat_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
        
        memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_heartbeat_send(MAVLINK_COMM_1 , packet1.type , packet1.autopilot , packet1.base_mode , packet1.custom_mode , packet1.system_status );
    mavlink_msg_heartbeat_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}

static void mavlink_test_sys_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
    mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
        if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_SYS_STATUS >= 256) {
            return;
        }
#endif
    mavlink_message_t msg;
        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
        uint16_t i;
    mavlink_sys_status_t packet_in = {
        963497464,963497672,963497880,17859,17963,18067,18171,18275,18379,18483,18587,18691,223
    };
    mavlink_sys_status_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
        packet1.onboard_control_sensors_present = packet_in.onboard_control_sensors_present;
        packet1.onboard_control_sensors_enabled = packet_in.onboard_control_sensors_enabled;
        packet1.onboard_control_sensors_health = packet_in.onboard_control_sensors_health;
        packet1.load = packet_in.load;
        packet1.voltage_battery = packet_in.voltage_battery;
        packet1.current_battery = packet_in.current_battery;
        packet1.drop_rate_comm = packet_in.drop_rate_comm;
        packet1.errors_comm = packet_in.errors_comm;
        packet1.errors_count1 = packet_in.errors_count1;
        packet1.errors_count2 = packet_in.errors_count2;
        packet1.errors_count3 = packet_in.errors_count3;
        packet1.errors_count4 = packet_in.errors_count4;
        packet1.battery_remaining = packet_in.battery_remaining;
        
        
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
        if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
           // cope with extensions
           memset(MAVLINK_MSG_ID_SYS_STATUS_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_SYS_STATUS_MIN_LEN);
        }
#endif
        memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_sys_status_encode(system_id, component_id, &msg, &packet1);
    mavlink_msg_sys_status_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
    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 );
    mavlink_msg_sys_status_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
    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 );
    mavlink_msg_sys_status_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
        mavlink_msg_to_send_buffer(buffer, &msg);
        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
            comm_send_ch(MAVLINK_COMM_0, buffer[i]);
        }
    mavlink_msg_sys_status_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
        
        memset(&packet2, 0, sizeof(packet2));
    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 );
    mavlink_msg_sys_status_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}

static void mavlink_test_system_time(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
    mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
        if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_SYSTEM_TIME >= 256) {
            return;
        }
#endif
    mavlink_message_t msg;
        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
        uint16_t i;
    mavlink_system_time_t packet_in = {
        93372036854775807ULL,963497880
    };
    mavlink_system_time_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
        packet1.time_unix_usec = packet_in.time_unix_usec;
        packet1.time_boot_ms = packet_in.time_boot_ms;
        
        
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
        if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
           // cope with extensions
           memset(MAVLINK_MSG_ID_SYSTEM_TIME_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_SYSTEM_TIME_MIN_LEN);
        }
#endif
        memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_system_time_encode(system_id, component_id, &msg, &packet1);
    mavlink_msg_system_time_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_system_time_pack(system_id, component_id, &msg , packet1.time_unix_usec , packet1.time_boot_ms );
    mavlink_msg_system_time_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_system_time_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_unix_usec , packet1.time_boot_ms );
    mavlink_msg_system_time_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
        mavlink_msg_to_send_buffer(buffer, &msg);
        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
            comm_send_ch(MAVLINK_COMM_0, buffer[i]);
        }
    mavlink_msg_system_time_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
        
        memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_system_time_send(MAVLINK_COMM_1 , packet1.time_unix_usec , packet1.time_boot_ms );
    mavlink_msg_system_time_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}

static void mavlink_test_gps_raw_int(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
    mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
        if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_GPS_RAW_INT >= 256) {
            return;
        }
#endif
    mavlink_message_t msg;
        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
        uint16_t i;
    mavlink_gps_raw_int_t packet_in = {
        93372036854775807ULL,963497880,963498088,963498296,18275,18379,18483,18587,89,156
    };
    mavlink_gps_raw_int_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
        packet1.time_usec = packet_in.time_usec;
        packet1.lat = packet_in.lat;
        packet1.lon = packet_in.lon;
        packet1.alt = packet_in.alt;
        packet1.eph = packet_in.eph;
        packet1.epv = packet_in.epv;
        packet1.vel = packet_in.vel;
        packet1.cog = packet_in.cog;
        packet1.fix_type = packet_in.fix_type;
        packet1.satellites_visible = packet_in.satellites_visible;
        
        
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
        if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
           // cope with extensions
           memset(MAVLINK_MSG_ID_GPS_RAW_INT_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_GPS_RAW_INT_MIN_LEN);
        }
#endif
        memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_gps_raw_int_encode(system_id, component_id, &msg, &packet1);
    mavlink_msg_gps_raw_int_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
    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 );
    mavlink_msg_gps_raw_int_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
    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 );
    mavlink_msg_gps_raw_int_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
        mavlink_msg_to_send_buffer(buffer, &msg);
        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
            comm_send_ch(MAVLINK_COMM_0, buffer[i]);
        }
    mavlink_msg_gps_raw_int_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
        
        memset(&packet2, 0, sizeof(packet2));
    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 );
    mavlink_msg_gps_raw_int_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}

static void mavlink_test_scaled_imu(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
    mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
        if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_SCALED_IMU >= 256) {
            return;
        }
#endif
    mavlink_message_t msg;
        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
        uint16_t i;
    mavlink_scaled_imu_t packet_in = {
        963497464,17443,17547,17651,17755,17859,17963,18067,18171,18275
    };
    mavlink_scaled_imu_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
        packet1.time_boot_ms = packet_in.time_boot_ms;
        packet1.xacc = packet_in.xacc;
        packet1.yacc = packet_in.yacc;
        packet1.zacc = packet_in.zacc;
        packet1.xgyro = packet_in.xgyro;
        packet1.ygyro = packet_in.ygyro;
        packet1.zgyro = packet_in.zgyro;
        packet1.xmag = packet_in.xmag;
        packet1.ymag = packet_in.ymag;
        packet1.zmag = packet_in.zmag;
        
        
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
        if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
           // cope with extensions
           memset(MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_SCALED_IMU_MIN_LEN);
        }
#endif
        memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_scaled_imu_encode(system_id, component_id, &msg, &packet1);
    mavlink_msg_scaled_imu_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
    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 );
    mavlink_msg_scaled_imu_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
    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 );
    mavlink_msg_scaled_imu_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
        mavlink_msg_to_send_buffer(buffer, &msg);
        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
            comm_send_ch(MAVLINK_COMM_0, buffer[i]);
        }
    mavlink_msg_scaled_imu_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
        
        memset(&packet2, 0, sizeof(packet2));
    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 );
    mavlink_msg_scaled_imu_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}

static void mavlink_test_attitude(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
    mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
        if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_ATTITUDE >= 256) {
            return;
        }
#endif
    mavlink_message_t msg;
        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
        uint16_t i;
    mavlink_attitude_t packet_in = {
        963497464,45.0,73.0,101.0,129.0,157.0,185.0
    };
    mavlink_attitude_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
        packet1.time_boot_ms = packet_in.time_boot_ms;
        packet1.roll = packet_in.roll;
        packet1.pitch = packet_in.pitch;
        packet1.yaw = packet_in.yaw;
        packet1.rollspeed = packet_in.rollspeed;
        packet1.pitchspeed = packet_in.pitchspeed;
        packet1.yawspeed = packet_in.yawspeed;
        
        
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
        if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
           // cope with extensions
           memset(MAVLINK_MSG_ID_ATTITUDE_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_ATTITUDE_MIN_LEN);
        }
#endif
        memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_attitude_encode(system_id, component_id, &msg, &packet1);
    mavlink_msg_attitude_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
    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 );
    mavlink_msg_attitude_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
    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 );
    mavlink_msg_attitude_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
        mavlink_msg_to_send_buffer(buffer, &msg);
        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
            comm_send_ch(MAVLINK_COMM_0, buffer[i]);
        }
    mavlink_msg_attitude_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
        
        memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_attitude_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.roll , packet1.pitch , packet1.yaw , packet1.rollspeed , packet1.pitchspeed , packet1.yawspeed );
    mavlink_msg_attitude_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}

static void mavlink_test_attitude_quaternion(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
    mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
        if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_ATTITUDE_QUATERNION >= 256) {
            return;
        }
#endif
    mavlink_message_t msg;
        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
        uint16_t i;
    mavlink_attitude_quaternion_t packet_in = {
        963497464,45.0,73.0,101.0,129.0,157.0,185.0,213.0
    };
    mavlink_attitude_quaternion_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
        packet1.time_boot_ms = packet_in.time_boot_ms;
        packet1.q1 = packet_in.q1;
        packet1.q2 = packet_in.q2;
        packet1.q3 = packet_in.q3;
        packet1.q4 = packet_in.q4;
        packet1.rollspeed = packet_in.rollspeed;
        packet1.pitchspeed = packet_in.pitchspeed;
        packet1.yawspeed = packet_in.yawspeed;
        
        
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
        if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
           // cope with extensions
           memset(MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_ATTITUDE_QUATERNION_MIN_LEN);
        }
#endif
        memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_attitude_quaternion_encode(system_id, component_id, &msg, &packet1);
    mavlink_msg_attitude_quaternion_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
    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 );
    mavlink_msg_attitude_quaternion_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
    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 );
    mavlink_msg_attitude_quaternion_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
        mavlink_msg_to_send_buffer(buffer, &msg);
        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
            comm_send_ch(MAVLINK_COMM_0, buffer[i]);
        }
    mavlink_msg_attitude_quaternion_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
        
        memset(&packet2, 0, sizeof(packet2));
    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 );
    mavlink_msg_attitude_quaternion_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}

static void mavlink_test_local_position_ned(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
    mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
        if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_LOCAL_POSITION_NED >= 256) {
            return;
        }
#endif
    mavlink_message_t msg;
        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
        uint16_t i;
    mavlink_local_position_ned_t packet_in = {
        963497464,45.0,73.0,101.0,129.0,157.0,185.0
    };
    mavlink_local_position_ned_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
        packet1.time_boot_ms = packet_in.time_boot_ms;
        packet1.x = packet_in.x;
        packet1.y = packet_in.y;
        packet1.z = packet_in.z;
        packet1.vx = packet_in.vx;
        packet1.vy = packet_in.vy;
        packet1.vz = packet_in.vz;
        
        
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
        if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
           // cope with extensions
           memset(MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_LOCAL_POSITION_NED_MIN_LEN);
        }
#endif
        memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_local_position_ned_encode(system_id, component_id, &msg, &packet1);
    mavlink_msg_local_position_ned_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
    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 );
    mavlink_msg_local_position_ned_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
    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 );
    mavlink_msg_local_position_ned_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
        mavlink_msg_to_send_buffer(buffer, &msg);
        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
            comm_send_ch(MAVLINK_COMM_0, buffer[i]);
        }
    mavlink_msg_local_position_ned_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
        
        memset(&packet2, 0, sizeof(packet2));
    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 );
    mavlink_msg_local_position_ned_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}

static void mavlink_test_range_to_node(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
    mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
        if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_RANGE_TO_NODE >= 256) {
            return;
        }
#endif
    mavlink_message_t msg;
        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
        uint16_t i;
    mavlink_range_to_node_t packet_in = {
        963497464,45.0,29,96
    };
    mavlink_range_to_node_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
        packet1.time_boot_ms = packet_in.time_boot_ms;
        packet1.range = packet_in.range;
        packet1.my_id = packet_in.my_id;
        packet1.tgt_id = packet_in.tgt_id;
        
        
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
        if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
           // cope with extensions
           memset(MAVLINK_MSG_ID_RANGE_TO_NODE_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_RANGE_TO_NODE_MIN_LEN);
        }
#endif
        memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_range_to_node_encode(system_id, component_id, &msg, &packet1);
    mavlink_msg_range_to_node_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_range_to_node_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.my_id , packet1.tgt_id , packet1.range );
    mavlink_msg_range_to_node_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
    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 );
    mavlink_msg_range_to_node_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
        mavlink_msg_to_send_buffer(buffer, &msg);
        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
            comm_send_ch(MAVLINK_COMM_0, buffer[i]);
        }
    mavlink_msg_range_to_node_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
        
        memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_range_to_node_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.my_id , packet1.tgt_id , packet1.range );
    mavlink_msg_range_to_node_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}

static void mavlink_test_fused_imu(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
    mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
        if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_FUSED_IMU >= 256) {
            return;
        }
#endif
    mavlink_message_t msg;
        uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
        uint16_t i;
    mavlink_fused_imu_t packet_in = {
        963497464,45.0,73.0,101.0,129.0,157.0,185.0,213.0,241.0,269.0
    };
    mavlink_fused_imu_t packet1, packet2;
        memset(&packet1, 0, sizeof(packet1));
        packet1.time_boot_ms = packet_in.time_boot_ms;
        packet1.accel_x = packet_in.accel_x;
        packet1.accel_y = packet_in.accel_y;
        packet1.accel_z = packet_in.accel_z;
        packet1.gyro_x = packet_in.gyro_x;
        packet1.gyro_y = packet_in.gyro_y;
        packet1.gyro_z = packet_in.gyro_z;
        packet1.roll = packet_in.roll;
        packet1.pitch = packet_in.pitch;
        packet1.yaw = packet_in.yaw;
        
        
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
        if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
           // cope with extensions
           memset(MAVLINK_MSG_ID_FUSED_IMU_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_FUSED_IMU_MIN_LEN);
        }
#endif
        memset(&packet2, 0, sizeof(packet2));
    mavlink_msg_fused_imu_encode(system_id, component_id, &msg, &packet1);
    mavlink_msg_fused_imu_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
    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 );
    mavlink_msg_fused_imu_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
    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 );
    mavlink_msg_fused_imu_decode(&msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);

        memset(&packet2, 0, sizeof(packet2));
        mavlink_msg_to_send_buffer(buffer, &msg);
        for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
            comm_send_ch(MAVLINK_COMM_0, buffer[i]);
        }
    mavlink_msg_fused_imu_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
        
        memset(&packet2, 0, sizeof(packet2));
    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 );
    mavlink_msg_fused_imu_decode(last_msg, &packet2);
        MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
}

static void mavlink_test_emaxx_board(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
{
    mavlink_test_heartbeat(system_id, component_id, last_msg);
    mavlink_test_sys_status(system_id, component_id, last_msg);
    mavlink_test_system_time(system_id, component_id, last_msg);
    mavlink_test_gps_raw_int(system_id, component_id, last_msg);
    mavlink_test_scaled_imu(system_id, component_id, last_msg);
    mavlink_test_attitude(system_id, component_id, last_msg);
    mavlink_test_attitude_quaternion(system_id, component_id, last_msg);
    mavlink_test_local_position_ned(system_id, component_id, last_msg);
    mavlink_test_range_to_node(system_id, component_id, last_msg);
    mavlink_test_fused_imu(system_id, component_id, last_msg);
}

#ifdef __cplusplus
}
#endif // __cplusplus
#endif // EMAXX_BOARD_TESTSUITE_H