From 5da7d6eac242df3a632bd0197628c241bd4dbe0e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 22 Oct 2015 17:40:21 +1100
Subject: [PATCH] Replay: set INS_GYRO_CAL to never to avoid losing samples

---
 Tools/Replay/Replay.cpp | 15 +++++++++++++++
 1 file changed, 15 insertions(+)

diff --git a/Tools/Replay/Replay.cpp b/Tools/Replay/Replay.cpp
index fb89406c2f..bc59de3bea 100644
--- a/Tools/Replay/Replay.cpp
+++ b/Tools/Replay/Replay.cpp
@@ -280,6 +280,7 @@ private:
     } user_parameters[100];
 
     void set_ins_update_rate(uint16_t update_rate);
+    void inhibit_gyro_cal();
 
     void usage(void);
     void set_user_parameters(void);
@@ -608,6 +609,7 @@ void Replay::setup()
 
     _vehicle.setup();
 
+    inhibit_gyro_cal();
     set_ins_update_rate(log_info.update_rate);
 
     feenableexcept(FE_INVALID | FE_OVERFLOW);
@@ -648,6 +650,19 @@ void Replay::set_ins_update_rate(uint16_t _update_rate) {
     }
 }
 
+void Replay::inhibit_gyro_cal() {
+    // swiped from LR_MsgHandler.cpp; until we see PARM messages, we
+    // don't have a PARM handler available to set parameters.
+    enum ap_var_type var_type;
+    AP_Param *vp = AP_Param::find("INS_GYR_CAL", &var_type);
+    if (vp == NULL) {
+        ::fprintf(stderr, "No GYR_CAL parameter found\n");
+        abort();
+    }
+    ((AP_Float *)vp)->set(AP_InertialSensor::GYRO_CAL_NEVER);
+
+    // logreader.set_parameter("GYR_CAL", AP_InertialSensor::GYRO_CAL_NEVER);
+}
 
 /*
   setup user -p parameters