internal static int Serialize_HEARTBEAT(this Msg_heartbeat msg, byte[] bytes, ref int offset)
{
bitconverter.GetBytes(msg.time_usec, bytes, offset + 0);
bytes[offset + 8] = msg.fightstatus;
offset += 9;
return(0);
}
internal static int Serialize_HEARTBEAT(this Msg_heartbeat msg, byte[] bytes, ref int offset)
{
bitconverter.GetBytes(msg.custom_mode, bytes, offset + 0);
bytes[offset + 4] = msg.type;
bytes[offset + 5] = msg.autopilot;
bytes[offset + 6] = msg.base_mode;
bytes[offset + 7] = msg.system_status;
bytes[offset + 8] = msg.mavlink_version;
offset += 9;
return(0);
}
public void HeartBeatSerialisation()
{
_mav.txPacketSequence = 0x98; // hack to sync up with the real packet sequence no
var packet = new Msg_heartbeat { autopilot = 3, type = 0, mavlink_version = 2 };
_mav.Send(new MavlinkPacket { SystemId = 7, ComponentId = 1, Message = packet });
var dlbytes = _testStream.SentBytes.SelectMany(b => b).ToArray();
var hbBytes = GoodMavlinkHeartbeatPacketData();
CollectionAssert.AreEqual(hbBytes, dlbytes);
}