/** @file
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* @brief MAVLink comm protocol testsuite generated from development.xml
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* @see https://mavlink.io/en/
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*/
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#pragma once
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#ifndef DEVELOPMENT_TESTSUITE_H
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#define DEVELOPMENT_TESTSUITE_H
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#ifdef __cplusplus
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extern "C" {
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#endif
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#ifndef MAVLINK_TEST_ALL
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#define MAVLINK_TEST_ALL
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static void mavlink_test_standard(uint8_t, uint8_t, mavlink_message_t *last_msg);
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static void mavlink_test_development(uint8_t, uint8_t, mavlink_message_t *last_msg);
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static void mavlink_test_all(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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mavlink_test_standard(system_id, component_id, last_msg);
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mavlink_test_development(system_id, component_id, last_msg);
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}
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#endif
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#include "../standard/testsuite.h"
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static void mavlink_test_param_ack_transaction(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
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mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
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if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_PARAM_ACK_TRANSACTION >= 256) {
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return;
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}
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#endif
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mavlink_message_t msg;
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uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
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uint16_t i;
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mavlink_param_ack_transaction_t packet_in = {
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17.0,17,84,"GHIJKLMNOPQRSTU",199,10
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};
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mavlink_param_ack_transaction_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.param_value = packet_in.param_value;
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packet1.target_system = packet_in.target_system;
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packet1.target_component = packet_in.target_component;
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packet1.param_type = packet_in.param_type;
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packet1.param_result = packet_in.param_result;
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mav_array_memcpy(packet1.param_id, packet_in.param_id, sizeof(char)*16);
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#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
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if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
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// cope with extensions
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memset(MAVLINK_MSG_ID_PARAM_ACK_TRANSACTION_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_PARAM_ACK_TRANSACTION_MIN_LEN);
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}
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#endif
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_param_ack_transaction_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_param_ack_transaction_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_param_ack_transaction_pack(system_id, component_id, &msg , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_value , packet1.param_type , packet1.param_result );
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mavlink_msg_param_ack_transaction_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_param_ack_transaction_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 , packet1.param_result );
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mavlink_msg_param_ack_transaction_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_to_send_buffer(buffer, &msg);
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for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
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comm_send_ch(MAVLINK_COMM_0, buffer[i]);
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}
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mavlink_msg_param_ack_transaction_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_param_ack_transaction_send(MAVLINK_COMM_1 , packet1.target_system , packet1.target_component , packet1.param_id , packet1.param_value , packet1.param_type , packet1.param_result );
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mavlink_msg_param_ack_transaction_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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#ifdef MAVLINK_HAVE_GET_MESSAGE_INFO
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MAVLINK_ASSERT(mavlink_get_message_info_by_name("PARAM_ACK_TRANSACTION") != NULL);
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MAVLINK_ASSERT(mavlink_get_message_info_by_id(MAVLINK_MSG_ID_PARAM_ACK_TRANSACTION) != NULL);
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#endif
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}
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static void mavlink_test_mission_changed(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
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mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
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if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_MISSION_CHANGED >= 256) {
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return;
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}
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#endif
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mavlink_message_t msg;
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uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
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uint16_t i;
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mavlink_mission_changed_t packet_in = {
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17235,17339,17,84,151
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};
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mavlink_mission_changed_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.start_index = packet_in.start_index;
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packet1.end_index = packet_in.end_index;
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packet1.origin_sysid = packet_in.origin_sysid;
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packet1.origin_compid = packet_in.origin_compid;
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packet1.mission_type = packet_in.mission_type;
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#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
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if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
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// cope with extensions
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memset(MAVLINK_MSG_ID_MISSION_CHANGED_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_MISSION_CHANGED_MIN_LEN);
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}
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#endif
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_mission_changed_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_mission_changed_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_mission_changed_pack(system_id, component_id, &msg , packet1.start_index , packet1.end_index , packet1.origin_sysid , packet1.origin_compid , packet1.mission_type );
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mavlink_msg_mission_changed_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_mission_changed_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.start_index , packet1.end_index , packet1.origin_sysid , packet1.origin_compid , packet1.mission_type );
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mavlink_msg_mission_changed_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_to_send_buffer(buffer, &msg);
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for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
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comm_send_ch(MAVLINK_COMM_0, buffer[i]);
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}
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mavlink_msg_mission_changed_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_mission_changed_send(MAVLINK_COMM_1 , packet1.start_index , packet1.end_index , packet1.origin_sysid , packet1.origin_compid , packet1.mission_type );
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mavlink_msg_mission_changed_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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#ifdef MAVLINK_HAVE_GET_MESSAGE_INFO
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MAVLINK_ASSERT(mavlink_get_message_info_by_name("MISSION_CHANGED") != NULL);
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MAVLINK_ASSERT(mavlink_get_message_info_by_id(MAVLINK_MSG_ID_MISSION_CHANGED) != NULL);
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#endif
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}
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static void mavlink_test_mission_checksum(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
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mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
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if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_MISSION_CHECKSUM >= 256) {
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return;
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}
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#endif
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mavlink_message_t msg;
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uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
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uint16_t i;
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mavlink_mission_checksum_t packet_in = {
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963497464,17
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};
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mavlink_mission_checksum_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.checksum = packet_in.checksum;
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packet1.mission_type = packet_in.mission_type;
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#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
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if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
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// cope with extensions
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memset(MAVLINK_MSG_ID_MISSION_CHECKSUM_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_MISSION_CHECKSUM_MIN_LEN);
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}
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#endif
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_mission_checksum_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_mission_checksum_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_mission_checksum_pack(system_id, component_id, &msg , packet1.mission_type , packet1.checksum );
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mavlink_msg_mission_checksum_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_mission_checksum_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.mission_type , packet1.checksum );
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mavlink_msg_mission_checksum_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_to_send_buffer(buffer, &msg);
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for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
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comm_send_ch(MAVLINK_COMM_0, buffer[i]);
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}
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mavlink_msg_mission_checksum_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_mission_checksum_send(MAVLINK_COMM_1 , packet1.mission_type , packet1.checksum );
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mavlink_msg_mission_checksum_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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#ifdef MAVLINK_HAVE_GET_MESSAGE_INFO
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MAVLINK_ASSERT(mavlink_get_message_info_by_name("MISSION_CHECKSUM") != NULL);
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MAVLINK_ASSERT(mavlink_get_message_info_by_id(MAVLINK_MSG_ID_MISSION_CHECKSUM) != NULL);
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#endif
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}
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static void mavlink_test_airspeed(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
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mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
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if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_AIRSPEED >= 256) {
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return;
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}
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#endif
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mavlink_message_t msg;
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uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
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uint16_t i;
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mavlink_airspeed_t packet_in = {
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17.0,45.0,73.0,101.0,18067,187,254
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};
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mavlink_airspeed_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.airspeed = packet_in.airspeed;
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packet1.press_diff = packet_in.press_diff;
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packet1.press_static = packet_in.press_static;
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packet1.error = packet_in.error;
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packet1.temperature = packet_in.temperature;
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packet1.id = packet_in.id;
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packet1.type = packet_in.type;
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#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
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if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
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// cope with extensions
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memset(MAVLINK_MSG_ID_AIRSPEED_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_AIRSPEED_MIN_LEN);
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}
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#endif
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_airspeed_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_airspeed_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_airspeed_pack(system_id, component_id, &msg , packet1.id , packet1.airspeed , packet1.temperature , packet1.press_diff , packet1.press_static , packet1.error , packet1.type );
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mavlink_msg_airspeed_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_airspeed_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.id , packet1.airspeed , packet1.temperature , packet1.press_diff , packet1.press_static , packet1.error , packet1.type );
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mavlink_msg_airspeed_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_to_send_buffer(buffer, &msg);
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for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
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comm_send_ch(MAVLINK_COMM_0, buffer[i]);
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}
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mavlink_msg_airspeed_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_airspeed_send(MAVLINK_COMM_1 , packet1.id , packet1.airspeed , packet1.temperature , packet1.press_diff , packet1.press_static , packet1.error , packet1.type );
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mavlink_msg_airspeed_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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#ifdef MAVLINK_HAVE_GET_MESSAGE_INFO
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MAVLINK_ASSERT(mavlink_get_message_info_by_name("AIRSPEED") != NULL);
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MAVLINK_ASSERT(mavlink_get_message_info_by_id(MAVLINK_MSG_ID_AIRSPEED) != NULL);
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#endif
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}
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static void mavlink_test_wifi_network_info(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
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{
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#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
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mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
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if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_WIFI_NETWORK_INFO >= 256) {
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return;
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}
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#endif
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mavlink_message_t msg;
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uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
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uint16_t i;
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mavlink_wifi_network_info_t packet_in = {
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17235,"CDEFGHIJKLMNOPQRSTUVWXYZABCDEFG",235,46,113
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};
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mavlink_wifi_network_info_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.data_rate = packet_in.data_rate;
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packet1.channel_id = packet_in.channel_id;
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packet1.signal_quality = packet_in.signal_quality;
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packet1.security = packet_in.security;
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mav_array_memcpy(packet1.ssid, packet_in.ssid, sizeof(char)*32);
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#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
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if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
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// cope with extensions
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memset(MAVLINK_MSG_ID_WIFI_NETWORK_INFO_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_WIFI_NETWORK_INFO_MIN_LEN);
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}
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#endif
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_wifi_network_info_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_wifi_network_info_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_wifi_network_info_pack(system_id, component_id, &msg , packet1.ssid , packet1.channel_id , packet1.signal_quality , packet1.data_rate , packet1.security );
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mavlink_msg_wifi_network_info_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_wifi_network_info_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.ssid , packet1.channel_id , packet1.signal_quality , packet1.data_rate , packet1.security );
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mavlink_msg_wifi_network_info_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_to_send_buffer(buffer, &msg);
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for (i=0; i<mavlink_msg_get_send_buffer_length(&msg); i++) {
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comm_send_ch(MAVLINK_COMM_0, buffer[i]);
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}
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mavlink_msg_wifi_network_info_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
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memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_wifi_network_info_send(MAVLINK_COMM_1 , packet1.ssid , packet1.channel_id , packet1.signal_quality , packet1.data_rate , packet1.security );
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mavlink_msg_wifi_network_info_decode(last_msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
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#ifdef MAVLINK_HAVE_GET_MESSAGE_INFO
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MAVLINK_ASSERT(mavlink_get_message_info_by_name("WIFI_NETWORK_INFO") != NULL);
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MAVLINK_ASSERT(mavlink_get_message_info_by_id(MAVLINK_MSG_ID_WIFI_NETWORK_INFO) != NULL);
|
#endif
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}
|
|
static void mavlink_test_figure_eight_execution_status(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
{
|
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
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mavlink_status_t *status = mavlink_get_channel_status(MAVLINK_COMM_0);
|
if ((status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) && MAVLINK_MSG_ID_FIGURE_EIGHT_EXECUTION_STATUS >= 256) {
|
return;
|
}
|
#endif
|
mavlink_message_t msg;
|
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
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uint16_t i;
|
mavlink_figure_eight_execution_status_t packet_in = {
|
93372036854775807ULL,73.0,101.0,129.0,963498504,963498712,213.0,101
|
};
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mavlink_figure_eight_execution_status_t packet1, packet2;
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memset(&packet1, 0, sizeof(packet1));
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packet1.time_usec = packet_in.time_usec;
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packet1.major_radius = packet_in.major_radius;
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packet1.minor_radius = packet_in.minor_radius;
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packet1.orientation = packet_in.orientation;
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packet1.x = packet_in.x;
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packet1.y = packet_in.y;
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packet1.z = packet_in.z;
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packet1.frame = packet_in.frame;
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|
|
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
|
if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
|
// cope with extensions
|
memset(MAVLINK_MSG_ID_FIGURE_EIGHT_EXECUTION_STATUS_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_FIGURE_EIGHT_EXECUTION_STATUS_MIN_LEN);
|
}
|
#endif
|
memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_figure_eight_execution_status_encode(system_id, component_id, &msg, &packet1);
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mavlink_msg_figure_eight_execution_status_decode(&msg, &packet2);
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MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
memset(&packet2, 0, sizeof(packet2));
|
mavlink_msg_figure_eight_execution_status_pack(system_id, component_id, &msg , packet1.time_usec , packet1.major_radius , packet1.minor_radius , packet1.orientation , packet1.frame , packet1.x , packet1.y , packet1.z );
|
mavlink_msg_figure_eight_execution_status_decode(&msg, &packet2);
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
memset(&packet2, 0, sizeof(packet2));
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mavlink_msg_figure_eight_execution_status_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_usec , packet1.major_radius , packet1.minor_radius , packet1.orientation , packet1.frame , packet1.x , packet1.y , packet1.z );
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mavlink_msg_figure_eight_execution_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_figure_eight_execution_status_decode(last_msg, &packet2);
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
memset(&packet2, 0, sizeof(packet2));
|
mavlink_msg_figure_eight_execution_status_send(MAVLINK_COMM_1 , packet1.time_usec , packet1.major_radius , packet1.minor_radius , packet1.orientation , packet1.frame , packet1.x , packet1.y , packet1.z );
|
mavlink_msg_figure_eight_execution_status_decode(last_msg, &packet2);
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
#ifdef MAVLINK_HAVE_GET_MESSAGE_INFO
|
MAVLINK_ASSERT(mavlink_get_message_info_by_name("FIGURE_EIGHT_EXECUTION_STATUS") != NULL);
|
MAVLINK_ASSERT(mavlink_get_message_info_by_id(MAVLINK_MSG_ID_FIGURE_EIGHT_EXECUTION_STATUS) != NULL);
|
#endif
|
}
|
|
static void mavlink_test_component_information_basic(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_COMPONENT_INFORMATION_BASIC >= 256) {
|
return;
|
}
|
#endif
|
mavlink_message_t msg;
|
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
uint16_t i;
|
mavlink_component_information_basic_t packet_in = {
|
93372036854775807ULL,963497880,{ 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 },{ 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 },"YZABCDEFGHIJKLMNOPQRSTU","WXYZABCDEFGHIJKLMNOPQRS"
|
};
|
mavlink_component_information_basic_t packet1, packet2;
|
memset(&packet1, 0, sizeof(packet1));
|
packet1.capabilities = packet_in.capabilities;
|
packet1.time_boot_ms = packet_in.time_boot_ms;
|
|
mav_array_memcpy(packet1.vendor_name, packet_in.vendor_name, sizeof(uint8_t)*32);
|
mav_array_memcpy(packet1.model_name, packet_in.model_name, sizeof(uint8_t)*32);
|
mav_array_memcpy(packet1.software_version, packet_in.software_version, sizeof(char)*24);
|
mav_array_memcpy(packet1.hardware_version, packet_in.hardware_version, sizeof(char)*24);
|
|
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
|
if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
|
// cope with extensions
|
memset(MAVLINK_MSG_ID_COMPONENT_INFORMATION_BASIC_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_COMPONENT_INFORMATION_BASIC_MIN_LEN);
|
}
|
#endif
|
memset(&packet2, 0, sizeof(packet2));
|
mavlink_msg_component_information_basic_encode(system_id, component_id, &msg, &packet1);
|
mavlink_msg_component_information_basic_decode(&msg, &packet2);
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
memset(&packet2, 0, sizeof(packet2));
|
mavlink_msg_component_information_basic_pack(system_id, component_id, &msg , packet1.time_boot_ms , packet1.vendor_name , packet1.model_name , packet1.software_version , packet1.hardware_version , packet1.capabilities );
|
mavlink_msg_component_information_basic_decode(&msg, &packet2);
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
memset(&packet2, 0, sizeof(packet2));
|
mavlink_msg_component_information_basic_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.time_boot_ms , packet1.vendor_name , packet1.model_name , packet1.software_version , packet1.hardware_version , packet1.capabilities );
|
mavlink_msg_component_information_basic_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_component_information_basic_decode(last_msg, &packet2);
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
memset(&packet2, 0, sizeof(packet2));
|
mavlink_msg_component_information_basic_send(MAVLINK_COMM_1 , packet1.time_boot_ms , packet1.vendor_name , packet1.model_name , packet1.software_version , packet1.hardware_version , packet1.capabilities );
|
mavlink_msg_component_information_basic_decode(last_msg, &packet2);
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
#ifdef MAVLINK_HAVE_GET_MESSAGE_INFO
|
MAVLINK_ASSERT(mavlink_get_message_info_by_name("COMPONENT_INFORMATION_BASIC") != NULL);
|
MAVLINK_ASSERT(mavlink_get_message_info_by_id(MAVLINK_MSG_ID_COMPONENT_INFORMATION_BASIC) != NULL);
|
#endif
|
}
|
|
static void mavlink_test_group_start(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_GROUP_START >= 256) {
|
return;
|
}
|
#endif
|
mavlink_message_t msg;
|
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
uint16_t i;
|
mavlink_group_start_t packet_in = {
|
93372036854775807ULL,963497880,963498088
|
};
|
mavlink_group_start_t packet1, packet2;
|
memset(&packet1, 0, sizeof(packet1));
|
packet1.time_usec = packet_in.time_usec;
|
packet1.group_id = packet_in.group_id;
|
packet1.mission_checksum = packet_in.mission_checksum;
|
|
|
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
|
if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
|
// cope with extensions
|
memset(MAVLINK_MSG_ID_GROUP_START_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_GROUP_START_MIN_LEN);
|
}
|
#endif
|
memset(&packet2, 0, sizeof(packet2));
|
mavlink_msg_group_start_encode(system_id, component_id, &msg, &packet1);
|
mavlink_msg_group_start_decode(&msg, &packet2);
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
memset(&packet2, 0, sizeof(packet2));
|
mavlink_msg_group_start_pack(system_id, component_id, &msg , packet1.group_id , packet1.mission_checksum , packet1.time_usec );
|
mavlink_msg_group_start_decode(&msg, &packet2);
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
memset(&packet2, 0, sizeof(packet2));
|
mavlink_msg_group_start_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.group_id , packet1.mission_checksum , packet1.time_usec );
|
mavlink_msg_group_start_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_group_start_decode(last_msg, &packet2);
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
memset(&packet2, 0, sizeof(packet2));
|
mavlink_msg_group_start_send(MAVLINK_COMM_1 , packet1.group_id , packet1.mission_checksum , packet1.time_usec );
|
mavlink_msg_group_start_decode(last_msg, &packet2);
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
#ifdef MAVLINK_HAVE_GET_MESSAGE_INFO
|
MAVLINK_ASSERT(mavlink_get_message_info_by_name("GROUP_START") != NULL);
|
MAVLINK_ASSERT(mavlink_get_message_info_by_id(MAVLINK_MSG_ID_GROUP_START) != NULL);
|
#endif
|
}
|
|
static void mavlink_test_group_end(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_GROUP_END >= 256) {
|
return;
|
}
|
#endif
|
mavlink_message_t msg;
|
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
uint16_t i;
|
mavlink_group_end_t packet_in = {
|
93372036854775807ULL,963497880,963498088
|
};
|
mavlink_group_end_t packet1, packet2;
|
memset(&packet1, 0, sizeof(packet1));
|
packet1.time_usec = packet_in.time_usec;
|
packet1.group_id = packet_in.group_id;
|
packet1.mission_checksum = packet_in.mission_checksum;
|
|
|
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
|
if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
|
// cope with extensions
|
memset(MAVLINK_MSG_ID_GROUP_END_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_GROUP_END_MIN_LEN);
|
}
|
#endif
|
memset(&packet2, 0, sizeof(packet2));
|
mavlink_msg_group_end_encode(system_id, component_id, &msg, &packet1);
|
mavlink_msg_group_end_decode(&msg, &packet2);
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
memset(&packet2, 0, sizeof(packet2));
|
mavlink_msg_group_end_pack(system_id, component_id, &msg , packet1.group_id , packet1.mission_checksum , packet1.time_usec );
|
mavlink_msg_group_end_decode(&msg, &packet2);
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
memset(&packet2, 0, sizeof(packet2));
|
mavlink_msg_group_end_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.group_id , packet1.mission_checksum , packet1.time_usec );
|
mavlink_msg_group_end_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_group_end_decode(last_msg, &packet2);
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
memset(&packet2, 0, sizeof(packet2));
|
mavlink_msg_group_end_send(MAVLINK_COMM_1 , packet1.group_id , packet1.mission_checksum , packet1.time_usec );
|
mavlink_msg_group_end_decode(last_msg, &packet2);
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
#ifdef MAVLINK_HAVE_GET_MESSAGE_INFO
|
MAVLINK_ASSERT(mavlink_get_message_info_by_name("GROUP_END") != NULL);
|
MAVLINK_ASSERT(mavlink_get_message_info_by_id(MAVLINK_MSG_ID_GROUP_END) != NULL);
|
#endif
|
}
|
|
static void mavlink_test_available_modes(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_AVAILABLE_MODES >= 256) {
|
return;
|
}
|
#endif
|
mavlink_message_t msg;
|
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
uint16_t i;
|
mavlink_available_modes_t packet_in = {
|
963497464,17,84,151,218,"IJKLMNOPQRSTUVWXYZABCDEFGHIJKLMNOPQRSTUVWXYZABCDE"
|
};
|
mavlink_available_modes_t packet1, packet2;
|
memset(&packet1, 0, sizeof(packet1));
|
packet1.custom_mode = packet_in.custom_mode;
|
packet1.number_modes = packet_in.number_modes;
|
packet1.mode_index = packet_in.mode_index;
|
packet1.standard_mode = packet_in.standard_mode;
|
packet1.base_mode = packet_in.base_mode;
|
|
mav_array_memcpy(packet1.mode_name, packet_in.mode_name, sizeof(char)*50);
|
|
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
|
if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
|
// cope with extensions
|
memset(MAVLINK_MSG_ID_AVAILABLE_MODES_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_AVAILABLE_MODES_MIN_LEN);
|
}
|
#endif
|
memset(&packet2, 0, sizeof(packet2));
|
mavlink_msg_available_modes_encode(system_id, component_id, &msg, &packet1);
|
mavlink_msg_available_modes_decode(&msg, &packet2);
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
memset(&packet2, 0, sizeof(packet2));
|
mavlink_msg_available_modes_pack(system_id, component_id, &msg , packet1.number_modes , packet1.mode_index , packet1.standard_mode , packet1.base_mode , packet1.custom_mode , packet1.mode_name );
|
mavlink_msg_available_modes_decode(&msg, &packet2);
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
memset(&packet2, 0, sizeof(packet2));
|
mavlink_msg_available_modes_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.number_modes , packet1.mode_index , packet1.standard_mode , packet1.base_mode , packet1.custom_mode , packet1.mode_name );
|
mavlink_msg_available_modes_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_available_modes_decode(last_msg, &packet2);
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
memset(&packet2, 0, sizeof(packet2));
|
mavlink_msg_available_modes_send(MAVLINK_COMM_1 , packet1.number_modes , packet1.mode_index , packet1.standard_mode , packet1.base_mode , packet1.custom_mode , packet1.mode_name );
|
mavlink_msg_available_modes_decode(last_msg, &packet2);
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
#ifdef MAVLINK_HAVE_GET_MESSAGE_INFO
|
MAVLINK_ASSERT(mavlink_get_message_info_by_name("AVAILABLE_MODES") != NULL);
|
MAVLINK_ASSERT(mavlink_get_message_info_by_id(MAVLINK_MSG_ID_AVAILABLE_MODES) != NULL);
|
#endif
|
}
|
|
static void mavlink_test_current_mode(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_CURRENT_MODE >= 256) {
|
return;
|
}
|
#endif
|
mavlink_message_t msg;
|
uint8_t buffer[MAVLINK_MAX_PACKET_LEN];
|
uint16_t i;
|
mavlink_current_mode_t packet_in = {
|
963497464,17,84
|
};
|
mavlink_current_mode_t packet1, packet2;
|
memset(&packet1, 0, sizeof(packet1));
|
packet1.custom_mode = packet_in.custom_mode;
|
packet1.standard_mode = packet_in.standard_mode;
|
packet1.base_mode = packet_in.base_mode;
|
|
|
#ifdef MAVLINK_STATUS_FLAG_OUT_MAVLINK1
|
if (status->flags & MAVLINK_STATUS_FLAG_OUT_MAVLINK1) {
|
// cope with extensions
|
memset(MAVLINK_MSG_ID_CURRENT_MODE_MIN_LEN + (char *)&packet1, 0, sizeof(packet1)-MAVLINK_MSG_ID_CURRENT_MODE_MIN_LEN);
|
}
|
#endif
|
memset(&packet2, 0, sizeof(packet2));
|
mavlink_msg_current_mode_encode(system_id, component_id, &msg, &packet1);
|
mavlink_msg_current_mode_decode(&msg, &packet2);
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
memset(&packet2, 0, sizeof(packet2));
|
mavlink_msg_current_mode_pack(system_id, component_id, &msg , packet1.standard_mode , packet1.base_mode , packet1.custom_mode );
|
mavlink_msg_current_mode_decode(&msg, &packet2);
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
memset(&packet2, 0, sizeof(packet2));
|
mavlink_msg_current_mode_pack_chan(system_id, component_id, MAVLINK_COMM_0, &msg , packet1.standard_mode , packet1.base_mode , packet1.custom_mode );
|
mavlink_msg_current_mode_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_current_mode_decode(last_msg, &packet2);
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
memset(&packet2, 0, sizeof(packet2));
|
mavlink_msg_current_mode_send(MAVLINK_COMM_1 , packet1.standard_mode , packet1.base_mode , packet1.custom_mode );
|
mavlink_msg_current_mode_decode(last_msg, &packet2);
|
MAVLINK_ASSERT(memcmp(&packet1, &packet2, sizeof(packet1)) == 0);
|
|
#ifdef MAVLINK_HAVE_GET_MESSAGE_INFO
|
MAVLINK_ASSERT(mavlink_get_message_info_by_name("CURRENT_MODE") != NULL);
|
MAVLINK_ASSERT(mavlink_get_message_info_by_id(MAVLINK_MSG_ID_CURRENT_MODE) != NULL);
|
#endif
|
}
|
|
static void mavlink_test_development(uint8_t system_id, uint8_t component_id, mavlink_message_t *last_msg)
|
{
|
mavlink_test_param_ack_transaction(system_id, component_id, last_msg);
|
mavlink_test_mission_changed(system_id, component_id, last_msg);
|
mavlink_test_mission_checksum(system_id, component_id, last_msg);
|
mavlink_test_airspeed(system_id, component_id, last_msg);
|
mavlink_test_wifi_network_info(system_id, component_id, last_msg);
|
mavlink_test_figure_eight_execution_status(system_id, component_id, last_msg);
|
mavlink_test_component_information_basic(system_id, component_id, last_msg);
|
mavlink_test_group_start(system_id, component_id, last_msg);
|
mavlink_test_group_end(system_id, component_id, last_msg);
|
mavlink_test_available_modes(system_id, component_id, last_msg);
|
mavlink_test_current_mode(system_id, component_id, last_msg);
|
}
|
|
#ifdef __cplusplus
|
}
|
#endif // __cplusplus
|
#endif // DEVELOPMENT_TESTSUITE_H
|
