/* AUTO-GENERATED FILE. DO NOT MODIFY.
*
* This class was automatically generated by the
* java mavlink generator tool. It should not be modified by hand.
*/
// MESSAGE HIL_STATE_QUATERNION PACKING
package com.MAVLink.common;
import com.MAVLink.MAVLinkPacket;
import com.MAVLink.Parser;
import com.MAVLink.ardupilotmega.CRC;
import java.nio.ByteBuffer;
import org.junit.Test;
import static org.junit.Assert.assertArrayEquals;
/**
* Sent from simulation to autopilot, avoids in contrast to HIL_STATE singularities. This packet is useful for high throughput applications such as hardware in the loop simulations.
*/
public class msg_hil_state_quaternion_test{
public static final int MAVLINK_MSG_ID_HIL_STATE_QUATERNION = 115;
public static final int MAVLINK_MSG_LENGTH = 64;
private static final long serialVersionUID = MAVLINK_MSG_ID_HIL_STATE_QUATERNION;
private Parser parser = new Parser();
public CRC generateCRC(byte[] packet){
CRC crc = new CRC();
for (int i = 1; i < packet.length - 2; i++) {
crc.update_checksum(packet[i] & 0xFF);
}
crc.finish_checksum(MAVLINK_MSG_ID_HIL_STATE_QUATERNION);
return crc;
}
public byte[] generateTestPacket(){
ByteBuffer payload = ByteBuffer.allocate(6 + MAVLINK_MSG_LENGTH + 2);
payload.put((byte)MAVLinkPacket.MAVLINK_STX); //stx
payload.put((byte)MAVLINK_MSG_LENGTH); //len
payload.put((byte)0); //seq
payload.put((byte)255); //sysid
payload.put((byte)190); //comp id
payload.put((byte)MAVLINK_MSG_ID_HIL_STATE_QUATERNION); //msg id
payload.putLong((long)93372036854775807L); //time_usec
//attitude_quaternion
payload.putFloat((float)73.0);
payload.putFloat((float)74.0);
payload.putFloat((float)75.0);
payload.putFloat((float)76.0);
payload.putFloat((float)185.0); //rollspeed
payload.putFloat((float)213.0); //pitchspeed
payload.putFloat((float)241.0); //yawspeed
payload.putInt((int)963499336); //lat
payload.putInt((int)963499544); //lon
payload.putInt((int)963499752); //alt
payload.putShort((short)19731); //vx
payload.putShort((short)19835); //vy
payload.putShort((short)19939); //vz
payload.putShort((short)20043); //ind_airspeed
payload.putShort((short)20147); //true_airspeed
payload.putShort((short)20251); //xacc
payload.putShort((short)20355); //yacc
payload.putShort((short)20459); //zacc
CRC crc = generateCRC(payload.array());
payload.put((byte)crc.getLSB());
payload.put((byte)crc.getMSB());
return payload.array();
}
@Test
public void test(){
byte[] packet = generateTestPacket();
for(int i = 0; i < packet.length - 1; i++){
parser.mavlink_parse_char(packet[i] & 0xFF);
}
MAVLinkPacket m = parser.mavlink_parse_char(packet[packet.length - 1] & 0xFF);
byte[] processedPacket = m.encodePacket();
assertArrayEquals("msg_hil_state_quaternion", processedPacket, packet);
}
}