From 909a46a33b3ea8f312a84a09d015c4b8fb99a6de Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 26 Apr 2016 15:50:59 +1000
Subject: [PATCH] Replay: pass delta angle time if available

---
 Tools/Replay/LR_MsgHandler.cpp | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/Tools/Replay/LR_MsgHandler.cpp b/Tools/Replay/LR_MsgHandler.cpp
index 631ce2f02a..d839966d9b 100644
--- a/Tools/Replay/LR_MsgHandler.cpp
+++ b/Tools/Replay/LR_MsgHandler.cpp
@@ -242,7 +242,11 @@ void LR_MsgHandler_IMT_Base::update_from_msg_imt(uint8_t imu_offset, uint8_t *ms
     if (gyro_mask & this_imu_mask) {
         Vector3f d_angle;
         require_field(msg, "DelA", d_angle);
-        ins.set_delta_angle(imu_offset, d_angle);
+        float d_angle_dt;
+        if (!field_value(msg, "DelaT", d_angle_dt)) {
+            d_angle_dt = 0;
+        }
+        ins.set_delta_angle(imu_offset, d_angle, d_angle_dt);
     }
     if (accel_mask & this_imu_mask) {
         float dvt = 0;