gistfile1.cs

new TestScheduler().With(sc => {
    var client = Substitute.For<IQuadClient>();
    var packets = new Subject<IMavLinkPacket>();
    client.Packets.Returns(packets);

    var quad = new Quad(client, MessageBus.Current);
    packets.OnNext(new Mav.mavlink_heartbeat_t { base_mode = (byte)Mav.MAV_MODE_FLAG.SAFETY_ARMED });
    sc.AdvanceByMs(1);

    quad.State = new LandState();

    sc.AdvanceByMs(1);

    Assert.AreEqual(ArduCopterMode.Land, quad.DesiredMode);
    Assert.AreEqual(1000, quad.RcOverride.Throttle);
});