MAVLab Course2026 Updates (p1) (#3632)

* updated distance measurement script.
- automatically shows which ids are available
- filter out big jumps
- plot_summary.py shows distance over time with recording regions

* Adding config file for radiomaster pocket joystick ble/usb (#108)

* added radiomaster tx16s xml (#123)

Co-authored-by: Wiebe van der Knaap <wkvanderknaap@tudelft.nl>

* Fix joystick device argument parsed as single token in control panel sessions (#118)

The `-d 0` joystick device flag was passed as a single `flag` attribute,
causing the joystick program to receive it as one token instead of two
separate arguments. This prevented the device number from being recognized,
breaking joystick input in the Simulation - Gazebo and Flight UDP sessions.

Fixed by splitting into `<arg flag="-d" constant="0"/>`.

Co-authored-by: Claude Sonnet 4.6 <noreply@anthropic.com>

* fixed names of variables and resolution bugs, added documentation (#113)

Co-authored-by: macoman <macoman@student.tudelft.nl>

* Update Gazebo Models: Gate, Plants, Logo

* Added some (math) tests (#114)

* added a test for paparazzi's math librarie's int sqrt function and int quaternion normalization function
* Keep essential tests

Reduced the number of tests planned from 9 to 6 and removed tests for int32_sqrt.

---------

Co-authored-by: LSSchef <l.s.scheffer@student.tudelft.nl>
Co-authored-by: AniketBehura <aniketbehura1023@gmail.com>
Co-authored-by: diaa <D.abbasi@student.tudelft.nl>

* Feat: readme update for submodule installation (#115)

* feat: readme update for submodule installation

* Rename README to README.md

---------

Co-authored-by: Christophe De Wagter <dewagter@gmail.com>

---------

Co-authored-by: robinferede <robinferede@tudelft.nl>
Co-authored-by: Robin Euger <robin.euger@gmail.com>
Co-authored-by: Wiebe van der Knaap <wkvanderknaap@tudelft.nl>
Co-authored-by: EAbbenhuis <113993394+EAbbenhuis@users.noreply.github.com>
Co-authored-by: Claude Sonnet 4.6 <noreply@anthropic.com>
Co-authored-by: Mihai Coman <127535163+miki133@users.noreply.github.com>
Co-authored-by: macoman <macoman@student.tudelft.nl>
Co-authored-by: Swayam Kuckreja <110131770+swayamkuckreja@users.noreply.github.com>
Co-authored-by: LSSchef <l.s.scheffer@student.tudelft.nl>
Co-authored-by: AniketBehura <aniketbehura1023@gmail.com>
Co-authored-by: diaa <D.abbasi@student.tudelft.nl>
Co-authored-by: Douwe-Rijs <Douwe@standofl.nl>

conf/joystick/radiomaster_TX16s.xml

@@ -0,0 +1,62 @@
+<joystick>
+
+  <!--
+    RadioMaster TX16S (OpenTX/EdgeTX) — Paparazzi UAV joystick configuration
+
+    Axis mapping (verify with: ./sw/ground_segment/joystick/test_stick):
+      Axis 0 : Roll       — right stick X
+      Axis 1 : Pitch      — right stick Y
+      Axis 2 : Throttle   — left stick Y
+      Axis 3 : Yaw        — left stick X
+      Axis 5 : Mode switch — 3-position (SA/SB): low / mid / high
+      Axis 6 : Arm switch  — 2-position (SF/SE): 0 = disarm, ~1024 = arm
+
+    TX16S switch axes output 0 / ~1024 / ~2047 (unsigned), which input2ivy
+    scales to -127 / 0 / +127 internally.
+
+    Pitch and throttle are inverted relative to Paparazzi convention — hence
+    the minus signs in the RC_UP field values below.
+  -->
+
+  <input>
+    <!-- deadband: eliminates stick drift at centre (range 0-127)  -->
+    <!-- exponent: finer control near centre, faster at extremes (range 0-1.0) -->
+    <axis index="0" name="roll"     deadband="10" exponent="0.5" limit="1.0" trim="0"/>
+    <axis index="1" name="pitch"    deadband="10" exponent="0.5" limit="1.0" trim="0"/>
+    <axis index="2" name="throttle" deadband="5"  exponent="0.0" limit="1.0" trim="0"/>
+    <axis index="3" name="yaw"      deadband="10" exponent="0.5" limit="1.0" trim="0"/>
+    <axis index="5" name="mode_sw"/>
+    <axis index="6" name="arm_sw"/>
+  </input>
+
+  <variables>
+    <var name="mode" default="0"/>
+  </variables>
+
+  <messages period="0.05">
+
+    <message class="datalink" name="RC_UP" send_always="true">
+      <field name="channels"
+             value="roll;
+                    -pitch;
+                    yaw;
+                    Fit(-throttle,-127,127,0,127);
+                    Fit(mode_sw,-127,127,0,2)"/>
+    </message>
+
+    <!-- Arm switch: arm_sw > -60 = armed, arm_sw < -60 = disarmed/killed -->
+    <message class="ground" name="DL_SETTING"
+             on_event="arm_sw &gt; -60">
+      <field name="index" value="IndexOfSetting('autopilot.kill_throttle')"/>
+      <field name="value" value="0"/>
+    </message>
+
+    <message class="ground" name="DL_SETTING"
+             on_event="arm_sw &lt; -60">
+      <field name="index" value="IndexOfSetting('autopilot.kill_throttle')"/>
+      <field name="value" value="1"/>
+    </message>
+
+  </messages>
+
+</joystick>

conf/joystick/radiomaster_pocket_ble.xml

@@ -0,0 +1,42 @@
+<!--
+RadioMaster pocket Transmitter - Used as Bluetooth Joystick
+
+The RadioMaster Pocket is a versatile 32CH radio transmitter with Bluetooth capability.
+This configuration assumes no modification were done with jstest-gtk
+
+In this file we will use it as a 6CH joystick to control a UAS.
+- The left stick vertical axis will be used for throttle
+- The right stick horizontal axis will be used for roll
+- The right stick vertical axis will be used for pitch
+- The left stick horizontal axis will be used for yaw
+- The VRA axis will be used for arming (left top switch)
+- The VRC axis will be used for mode switch (right top switch)
+
+If you want to fly your UAS via the joystick add this to your session:
+
+ /home/username/paparazzi/sw/ground_segment/joystick/input2ivy -d 0 -ac yourairframe_name radiomaster_pocket_ble.xml
+
+Where -d 0 must be -d 1 if you have a laptop with accelerometer installed
+
+The basis of steering is the standard signs of aerospace convention
+-->
+
+<joystick>
+  <input>
+    <axis index="4" name="LeftStickHorizontal"/>
+    <axis index="3" name="LeftStickVertical"/>
+    <axis index="0" name="RightStickHorizontal"/>
+    <axis index="1" name="RightStickVertical"/>
+    <!-- VRA is SA and VRC is SC switch -->
+    <axis index="2" name="VRA"/>
+    <axis index="6" name="VRC"/>
+  </input>
+
+  <!-- Follow the order of rc_datalink.h -->
+  <messages period="0.05">
+    <message class="datalink" name="RC_UP" send_always="true">
+      <field name="channels" value="RightStickHorizontal;-RightStickVertical;LeftStickHorizontal;Fit(LeftStickVertical,-127,127,0,127);VRC;VRA"/>
+    </message>
+  </messages>
+
+</joystick>

conf/joystick/radiomaster_pocket_usb.xml

@@ -0,0 +1,42 @@
+<!--
+RadioMaster pocket Transmitter - Used as USB Joystick
+
+The RadioMaster Pocket is a versatile 32CH radio transmitter.
+This configuration assumes no modification were done with jstest-gtk
+
+In this file we will use it as a 6CH joystick to control a UAS.
+- The left stick vertical axis will be used for throttle
+- The right stick horizontal axis will be used for roll
+- The right stick vertical axis will be used for pitch
+- The left stick horizontal axis will be used for yaw
+- The VRA axis will be used for arming (left top switch)
+- The VRC axis will be used for mode switch (right top switch)
+
+If you want to fly your UAS via the joystick add this to your session:
+
+ /home/username/paparazzi/sw/ground_segment/joystick/input2ivy -d 0 -ac yourairframe_name radiomaster_pocket_usb.xml
+
+Where -d 0 must be -d 1 if you have a laptop with accelerometer installed
+
+The basis of steering is the standard signs of aerospace convention
+-->
+
+<joystick>
+  <input>
+    <axis index="3" name="LeftStickHorizontal"/>
+    <axis index="2" name="LeftStickVertical"/>
+    <axis index="0" name="RightStickHorizontal"/>
+    <axis index="1" name="RightStickVertical"/>
+    <!-- VRA is SA and VRC is SC switch -->
+    <axis index="4" name="VRA"/>
+    <axis index="6" name="VRC"/>
+  </input>
+
+  <!-- Follow the order of rc_datalink.h -->
+  <messages period="0.05">
+    <message class="datalink" name="RC_UP" send_always="true">
+      <field name="channels" value="RightStickHorizontal;-RightStickVertical;LeftStickHorizontal;Fit(LeftStickVertical,-127,127,0,127);VRC;VRA"/>
+    </message>
+  </messages>
+
+</joystick>

conf/modules/bebop_cam.xml

@@ -6,9 +6,9 @@
       Compile and control the settings of the Bebop front and bottom cameras.
     </description>
     <section name="Front camera" prefix="MT9F002_">
-      <define name="RESOLUTION" value="0" description="Preset image resolutions, 0 = VGA, 1 = 720p, 2 = 720p 4:3 aspect ratio, 3 = 1080p, 4 = 1080p 4:3 aspect ratio, 5 = 2048*2048, this is the max dimention allowable with isp"/>
+      <define name="RESOLUTION" value="0" description="Preset image resolutions, 0 = VGA, 1 = 720p, 2 = 720p 4:3 aspect ratio, 3 = 1080p, 4 = 1080p 4:3 aspect ratio, 5 = 2048*2048, this is the max dimension allowable with isp"/>
       <define name="OUTPUT_WIDTH" value="640" description="Image horizontal resolution used if MT9F002_RESOLUTION not defined"/>
-      <define name="OUTPUT_HEIGHT" value="640" description="Image vertical resolution used if MT9F002_RESOLUTION not defined"/>
+      <define name="OUTPUT_HEIGHT" value="480" description="Image vertical resolution used if MT9F002_RESOLUTION not defined"/>
       <define name="OFFSET_X" value="0" description="Signed fractional offset from centre of image of original sensor [-0.5,0.5]"/>
       <define name="OFFSET_Y" value="0" description="Signed fractional offset from centre of image of original sensor [-0.5,0.5]"/>
       <define name="ZOOM" value="1" description="Zoom factor of image"/>
@@ -18,8 +18,8 @@
       <define name="GAIN_GREEN2" value="2" description="Green gain"/>
       <define name="GAIN_RED" value="1.4" description="Red gain"/>
       <define name="GAIN_BLUE" value="2.7" description="Blue gain"/>
-      <define name="FOCAL_X" value="0.48686" description="Focal length in the x-direction in pixels"/>
-      <define name="OFFSET_X" value="0.48908" description="Focal length in the y-direction in pixels"/>
+      <define name="FOCAL_X" value="0.48686" description="Normalized focal length in x-direction (fraction of image width)"/>
+      <define name="FOCAL_Y" value="0.48908" description="Normalized focal length in y-direction (fraction of image width)"/>
       <define name="CENTER_X" value="0.51015" description="Center image coordinate in the x-direction"/>
       <define name="CENTER_Y" value="0.51015" description="Center image coordinate in the y-direction"/>
       <define name="DHANE_K" value="1.25" description="(Un)Distortion parameter for a fish-eye lens"/>
@@ -27,60 +27,136 @@
     
     <section name="Bottom camera" prefix="MT9V117_">
       <define name="TARGET_FPS" value="30" description="Desired frame rate"/>
-      <define name="FOCAL_X" value="0.48686" description="Focal length in the x-direction in pixels"/>
-      <define name="OFFSET_X" value="0.48908" description="Focal length in the y-direction in pixels"/>
+      <define name="FOCAL_X" value="0.48686" description="Normalized focal length in x-direction (fraction of image width)"/>
+      <define name="FOCAL_Y" value="0.48908" description="Normalized focal length in y-direction (fraction of image width)"/>
       <define name="CENTER_X" value="0.51015" description="Center image coordinate in the x-direction"/>
       <define name="CENTER_Y" value="0.51015" description="Center image coordinate in the y-direction"/>
       <define name="DHANE_K" value="1.25" description="(Un)Distortion parameter for a fish-eye lens"/>
     </section>
   </doc>
   
+ <!-- ================= Camera runtime settings ================= -->
+  <!-- These settings appear in the Paparazzi Ground Control Station
+       and allow adjusting camera parameters during flight. -->
   <settings>
-	  <dl_settings NAME="Bebop camera control">
+
+    <!-- Top-level group shown in the settings tree -->
+	  <dl_settings name="Bebop camera control">
+
+      <!-- Settings for the Bebop FRONT camera (MT9F002 sensor) -->
 	    <dl_settings name="Front camera">
-	      <dl_setting var="mt9f002.set_zoom" min="1." step="0.05" max="2.5" shortname="zoom" param="MT9F002_ZOOM"/>
-	      <dl_setting var="mt9f002.set_offset_x" min="-0.5" step="0.05" max="0.5" shortname="offset_x" param="MT9F002_OFFSET_X"/>
-	      <dl_setting var="mt9f002.set_offset_y" min="-0.5" step="0.05" max="0.5" shortname="offset_y" param="MT9F002_OFFSET_Y"/>
-	      <dl_setting var="mt9f002_send_resolution" min="1" step="1" max="1" values="SEND" shortname="update_resolution" module="boards/bebop/mt9f002" handler="setting_update_resolution"/>
-	      <dl_setting var="mt9f002.gain_green1" min="1" step="0.1" max="60" shortname="green_1" param="MT9F002_GAIN_GREEN1"/>
-	      <dl_setting var="mt9f002.gain_green2" min="1" step="0.1" max="60" shortname="green_2" param="MT9F002_GAIN_GREEN2"/>
-	      <dl_setting var="mt9f002.gain_blue" min="1" step="0.1" max="60" shortname="blue" param="MT9F002_GAIN_BLUE"/>
-	      <dl_setting var="mt9f002.gain_red" min="1" step="0.1" max="60" shortname="red" param="MT9F002_GAIN_RED"/>
-	      <dl_setting var="mt9f002_send_color" min="1" step="1" max="1" values="SEND" shortname="update_color" module="boards/bebop/mt9f002" handler="setting_update_color"/>
-	      <dl_setting var="mt9f002.target_exposure " min="0.1" step="0.1" max="80" shortname="exposure" param="MT9F002_TARGET_EXPOSURE"/>
-	      <dl_setting var="mt9f002_send_exposure" min="1" step="1" max="1" values="SEND" shortname="update_exposure" module="boards/bebop/mt9f002" handler="setting_update_exposure"/>
+
+        <!-- Digital zoom factor applied by the ISP -->
+	      <dl_setting var="mt9f002.set_zoom" min="1." step="0.05" max="2.5"
+                    shortname="zoom" param="MT9F002_ZOOM"/>
+
+        <!-- Horizontal crop offset relative to image center
+             Range [-0.5, 0.5] corresponds to fraction of sensor width -->
+	      <dl_setting var="mt9f002.set_offset_x" min="-0.5" step="0.05" max="0.5"
+                    shortname="offset_x" param="MT9F002_OFFSET_X"/>
+
+        <!-- Vertical crop offset relative to image center -->
+	      <dl_setting var="mt9f002.set_offset_y" min="-0.5" step="0.05" max="0.5"
+                    shortname="offset_y" param="MT9F002_OFFSET_Y"/>
+
+        <!-- Trigger command to send updated resolution to the camera driver -->
+	      <dl_setting var="mt9f002_send_resolution" min="1" step="1" max="1"
+                    values="SEND" shortname="update_resolution"
+                    module="boards/bebop/mt9f002"
+                    handler="setting_update_resolution"/>
+
+        <!-- White balance gains for Bayer channels -->
+	      <dl_setting var="mt9f002.gain_green1" min="1" step="0.1" max="60"
+                    shortname="green_1" param="MT9F002_GAIN_GREEN1"/>
+
+	      <dl_setting var="mt9f002.gain_green2" min="1" step="0.1" max="60"
+                    shortname="green_2" param="MT9F002_GAIN_GREEN2"/>
+
+	      <dl_setting var="mt9f002.gain_blue" min="1" step="0.1" max="60"
+                    shortname="blue" param="MT9F002_GAIN_BLUE"/>
+
+	      <dl_setting var="mt9f002.gain_red" min="1" step="0.1" max="60"
+                    shortname="red" param="MT9F002_GAIN_RED"/>
+
+        <!-- Send updated color gain values to the camera hardware -->
+	      <dl_setting var="mt9f002_send_color" min="1" step="1" max="1"
+                    values="SEND" shortname="update_color"
+                    module="boards/bebop/mt9f002"
+                    handler="setting_update_color"/>
+
+        <!-- Target exposure level used by the automatic exposure control -->
+	      <dl_setting var="mt9f002.target_exposure" min="0.1" step="0.1" max="80"
+                    shortname="exposure" param="MT9F002_TARGET_EXPOSURE"/>
+
+        <!-- Apply the new exposure setting to the camera -->
+	      <dl_setting var="mt9f002_send_exposure" min="1" step="1" max="1"
+                    values="SEND" shortname="update_exposure"
+                    module="boards/bebop/mt9f002"
+                    handler="setting_update_exposure"/>
+
   	  </dl_settings> 
     </dl_settings>
   </settings>
-  
+
+
+  <!-- ================= Module dependencies ================= -->
+  <!-- Requires I2C communication for the sensors and the
+       video processing thread for image streaming -->
   <dep>
     <depends>i2c,video_thread</depends>
   </dep>
-  
+
+
+  <!-- ================= Header files ================= -->
+  <!-- Camera driver interfaces used by this module -->
   <header>
-    <file name="mt9v117.h"/>
-    <file name="mt9f002.h"/>
+    <file name="mt9v117.h"/> <!-- bottom camera sensor -->
+    <file name="mt9f002.h"/> <!-- front camera sensor -->
   </header>
 
+
+  <!-- ================= Module initialization ================= -->
+  <!-- Called during autopilot startup to initialize sensors -->
   <init fun="mt9v117_init(PTR(mt9v117))"/>
   <init fun="mt9f002_init(PTR(mt9f002))"/>
+
+
+  <!-- ================= Build rules for autopilot target ================= -->
   <makefile target="ap">
+
+    <!-- Camera driver implementations -->
     <file name="mt9v117.c"/>
     <file name="mt9f002.c"/>
+
+    <!-- Bebop image signal processor (ISP) library -->
     <file name="libisp.c" dir="boards/bebop/isp"/>
 
+    <!-- Size of I2C communication buffer -->
     <define name="I2C_BUF_LEN" value="56"/>
+
+    <!-- Use Bebop I2C bus 0 -->
     <define name="USE_I2C0"/>
+
+    <!-- Also define for test builds -->
     <test>
       <define name="USE_I2C0"/>
     </test>
+
   </makefile>
+
+
+  <!-- ================= Build rules for NPS simulator ================= -->
   <makefile target="nps">
+
+    <!-- Simulated camera drivers -->
     <file name="mt9v117_nps.c"/>
     <file name="mt9f002_nps.c"/>
+
+    <!-- Same ISP library used for simulation -->
     <file name="libisp.c" dir="boards/bebop/isp"/>
 
     <define name="I2C_BUF_LEN" value="56"/>
     <define name="USE_I2C0"/>
+
   </makefile>
 </module>

conf/userconf/tudelft/course_control_panel.xml

@@ -23,7 +23,7 @@
       <program name="Joystick" command="sw/ground_segment/joystick/input2ivy">
         <arg flag="-ac" constant="@AIRCRAFT"/>
         <arg flag="sm600.xml"/>
-        <arg flag="-d 0"/>
+        <arg flag="-d" constant="0"/>
       </program>
       <program name="Gazebo"/>
       <program name="RtpViewer">
@@ -65,7 +65,7 @@
       <program name="Joystick" command="sw/ground_segment/joystick/input2ivy">
         <arg flag="-ac" constant="@AIRCRAFT"/>
         <arg flag="sm600.xml"/>
-        <arg flag="-d 0"/>
+        <arg flag="-d" constant="0"/>
       </program>
       <!--program name="NatNet3">
         <arg flag="-ac 9999" constant="@AC_ID"/>

sw/ext/README

@@ -1 +0,0 @@
-This directory contains libraries and tools in external git repositories used in paparazzi.

sw/tools/opti_dist/plot_summary.py

@@ -0,0 +1,65 @@
+#!/usr/bin/env python3
+"""Plot summary of a dist.py recording: distance over time, recording regions, totals."""
+import csv
+import argparse
+import matplotlib.pyplot as plt
+import matplotlib.patches as mpatches
+
+
+def main(csvfile):
+    times = []
+    distances = []
+    recording = []
+
+    with open(csvfile) as f:
+        reader = csv.reader(f)
+        next(reader)  # skip header
+        for row in reader:
+            times.append(float(row[0]))
+            distances.append(float(row[1]))
+            recording.append(row[5].strip() == 'True')
+
+    # Compute total distance and total time spent recording
+    total_distance = distances[-1] if distances else 0.0
+    total_rec_time = 0.0
+    for i in range(1, len(times)):
+        if recording[i]:
+            total_rec_time += times[i] - times[i - 1]
+
+    print(f"File: {csvfile}")
+    print(f"Total distance: {total_distance:.2f} m")
+    print(f"Total recording time: {total_rec_time:.1f} s")
+    print(f"Total session time: {times[-1]:.1f} s")
+
+    fig, ax = plt.subplots()
+    ax.plot(times, distances, 'b-', linewidth=1.5)
+    ax.set_xlabel('Time (s)')
+    ax.set_ylabel('Distance (m)')
+    ax.set_title(f'{csvfile}\nTotal distance: {total_distance:.2f} m | Recording time: {total_rec_time:.1f} s')
+
+    # Shade recording regions
+    in_region = False
+    region_start = 0
+    for i, rec in enumerate(recording):
+        if rec and not in_region:
+            region_start = times[i]
+            in_region = True
+        elif not rec and in_region:
+            ax.axvspan(region_start, times[i], alpha=0.2, color='red')
+            in_region = False
+    if in_region:
+        ax.axvspan(region_start, times[-1], alpha=0.2, color='red')
+
+    rec_patch = mpatches.Patch(color='red', alpha=0.2, label='Recording active')
+    ax.legend(handles=[rec_patch])
+    ax.grid(True, alpha=0.3)
+
+    plt.tight_layout()
+    plt.show()
+
+
+if __name__ == '__main__':
+    parser = argparse.ArgumentParser(description="Plot summary of a dist.py recording")
+    parser.add_argument('csvfile', help="CSV file from dist.py")
+    args = parser.parse_args()
+    main(args.csvfile)

tests/math/test_pprz_math.c

@@ -34,7 +34,7 @@
 int main()
 {
   note("running algebra math tests");
-  plan(3);
+   plan(6); // number of tests in this file to run
 
   /* test int32_vect2_normalize */
   struct Int32Vect2 v = {2300, -4200};
@@ -57,6 +57,24 @@ int main()
   ok((fabs(quat_zxy.qi - 0.9266) < 0.01 && fabs(quat_zxy.qx - -0.2317) < 0.01 && fabs(quat_zxy.qy - 0.1165) < 0.01) && fabs(quat_zxy.qz - 0.2722),
      "float_quat_of_eulers_zxy(float_eulers_of_quat_zxy(0.9266,   -0.2317,    0.1165,    0.2722)) returned [%f, %f, %f, %f]", quat_zxy.qi, quat_zxy.qx, quat_zxy.qy, quat_zxy.qz);
 
+  /* test int32_quat_normalize */
+  struct Int32Quat q = {32768, 0, 0, 0}; // 1.0 in Q15 format
+  q.qx = 16384; // 0.5 in Q15
+  q.qy = 0;
+  q.qz = 0;
+  int32_quat_normalize(&q);
+  // After normalization, the quaternion should be unit length (|q| = 1.0 in Q15)
+  // For [1, 0.5, 0, 0], norm = sqrt(1^2 + 0.5^2) = sqrt(1.25) ≈ 1.118
+  // Normalized: [1/1.118, 0.5/1.118, 0, 0] ≈ [0.894, 0.447, 0, 0]
+  // In Q15: 0.894*32768 ≈ 29300, 0.447*32768 ≈ 14650
+  ok((q.qi >= 29295 && q.qi <= 29315) && (q.qx >= 14645 && q.qx <= 14655), // allowing a small margin of error due to integer rounding
+     "int32_quat_normalize([32768,16384,0,0]) returned [%d, %d, %d, %d] (expected approx [29300,14650,0,0] +/- 15)", q.qi, q.qx, q.qy, q.qz);
+
+  uint32_t sqrt_100 = int32_sqrt(100);
+  ok(sqrt_100 == 10, "int32_sqrt(100) == %d (expected 10)", sqrt_100);
+
+  uint32_t sqrt_12345 = int32_sqrt(12345);
+  ok(sqrt_12345 >= 111 && sqrt_12345 <= 112, "int32_sqrt(12345) == %d (expected approx 111)", sqrt_12345);
 
   done_testing();
 }