/* 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 RAW_IMU 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;
/**
* The RAW IMU readings for the usual 9DOF sensor setup. This message should always contain the true raw values without any scaling to allow data capture and system debugging.
*/
public class msg_raw_imu_test{
public static final int MAVLINK_MSG_ID_RAW_IMU = 27;
public static final int MAVLINK_MSG_LENGTH = 26;
private static final long serialVersionUID = MAVLINK_MSG_ID_RAW_IMU;
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_RAW_IMU);
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_RAW_IMU); //msg id
payload.putLong((long)93372036854775807L); //time_usec
payload.putShort((short)17651); //xacc
payload.putShort((short)17755); //yacc
payload.putShort((short)17859); //zacc
payload.putShort((short)17963); //xgyro
payload.putShort((short)18067); //ygyro
payload.putShort((short)18171); //zgyro
payload.putShort((short)18275); //xmag
payload.putShort((short)18379); //ymag
payload.putShort((short)18483); //zmag
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_raw_imu", processedPacket, packet);
}
}