gistfile1.cpp

// Start the module
// Fake a state
// Wait for the module to publish it's response
// Check to see if that response was expected
// Fake a new state and do it again.
// End the module

State testArray = [
    {sensors : {pos, barometer, gps...}, controls : {control1, control2}},
    {sensors : {pos, barometer, gps...}, controls : {control1, control2}}]

attitude_estimator_module.start();

attitudeControlSubscriber = subscribe(attitudeControl);

foreach(testArray as test){

    waitingForData = true;

    // Fake all of the sensor states
    foreach(test.sensors as sensorData){
        broadcast(sensorId, sensorData);
    }

    // Wait for control module to publish it's response
    while(waitingForData){

        // It's published
        if(attitudeControlSubscriber.isUpdated())

            // Check to see if it matches
            assert(attitudeControlSubscriber.data == test.controls.attitudeControl);
            waitingForData = false;
        }
    }

}

attitude_estimator_module.end();