Replay: added MAG2 message

Tools/Replay/LogReader.cpp

@@ -31,6 +31,7 @@
 #include "MsgHandler_AHR2.h"
 #include "MsgHandler_ATT.h"
 #include "MsgHandler_MAG.h"
+#include "MsgHandler_MAG2.h"
 #include "MsgHandler_NTUN_Copter.h"
 #include "MsgHandler_ARSP.h"
 
@@ -182,6 +183,9 @@ bool LogReader::update(char type[5])
 	} else if (streq(name, "MAG")) {
 	  msgparser[f.type] = new MsgHandler_MAG(formats[f.type], dataflash,
 						 last_timestamp_usec, compass);
+	} else if (streq(name, "MAG2")) {
+	  msgparser[f.type] = new MsgHandler_MAG2(formats[f.type], dataflash,
+						 last_timestamp_usec, compass);
 	} else if (streq(name, "NTUN")) {
 	    // the label "NTUN" is used by rover, copter and plane -
 	    // and they all look different!  creation of a parser is

Tools/Replay/MsgHandler_ARSP.cpp

@@ -7,6 +7,5 @@ void MsgHandler_ARSP::process_message(uint8_t *msg)
     airspeed.setHIL(require_field_float(msg, "Airspeed"),
 		    require_field_float(msg, "DiffPress"),
 		    require_field_float(msg, "Temp"));
-
+    dataflash.WriteBlock(msg, f.length);
-    dataflash.Log_Write_Airspeed(airspeed);
 }

Tools/Replay/MsgHandler_BARO.cpp

@@ -6,5 +6,5 @@ void MsgHandler_BARO::process_message(uint8_t *msg)
     baro.setHIL(0,
 		require_field_float(msg, "Press"),
 		require_field_int16_t(msg, "Temp") * 0.01f);
-    dataflash.Log_Write_Baro(baro);
+    dataflash.WriteBlock(msg, f.length);
 }

Tools/Replay/MsgHandler_GPS_Base.cpp

@@ -29,6 +29,6 @@ void MsgHandler_GPS_Base::update_from_msg_gps(uint8_t gps_offset, uint8_t *msg,
         rel_altitude = 0.01f * require_field_int32_t(msg, "RelAlt");
     }
 
-    dataflash.Log_Write_GPS(gps, gps_offset, rel_altitude);
+    dataflash.WriteBlock(msg, f.length);
 }
 

Tools/Replay/MsgHandler_IMU_Base.cpp

@@ -17,5 +17,5 @@ void MsgHandler_IMU_Base::update_from_msg_imu(uint8_t imu_offset, uint8_t *msg)
         ins.set_accel(imu_offset, accel2);
     }
 
-    dataflash.Log_Write_IMU(ins);
+    dataflash.WriteBlock(msg, f.length);
 }

Tools/Replay/MsgHandler_MAG2.cpp

@@ -0,0 +1,6 @@
+#include "MsgHandler_MAG2.h"
+
+void MsgHandler_MAG2::process_message(uint8_t *msg)
+{
+    update_from_msg_compass(1, msg);
+}

Tools/Replay/MsgHandler_MAG2.h

@@ -0,0 +1,11 @@
+#include "MsgHandler_MAG_Base.h"
+
+class MsgHandler_MAG2 : public MsgHandler_MAG_Base
+{
+public:
+    MsgHandler_MAG2(log_Format &_f, DataFlash_Class &_dataflash,
+                    uint64_t &_last_timestamp_usec, Compass &_compass)
+        : MsgHandler_MAG_Base(_f, _dataflash, _last_timestamp_usec,_compass) {};
+
+    virtual void process_message(uint8_t *msg);
+};

Tools/Replay/MsgHandler_MAG_Base.cpp

@@ -14,6 +14,6 @@ void MsgHandler_MAG_Base::update_from_msg_compass(uint8_t compass_offset, uint8_
     // mag_offset is a vector indicating the compass' calibration...
     compass.set_offsets(compass_offset, mag_offset);
 
-    dataflash.Log_Write_Compass(compass);
+    dataflash.WriteBlock(msg, f.length);
 }
 

Tools/Replay/MsgHandler_MAG_Base.h

@@ -1,3 +1,6 @@
+#ifndef MSGHANDLER_MAG_BASE_H
+#define MSGHANDLER_MAG_BASE_H
+
 #include "MsgHandler.h"
 
 class MsgHandler_MAG_Base : public MsgHandler
@@ -13,3 +16,5 @@ protected:
 private:
     Compass &compass;
 };
+
+#endif // MSGHANDLER_MAG_BASE