From ad8480d5f78ada1f1863e23c59f786b47c41963b Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 20 Jan 2015 09:11:07 +1100
Subject: [PATCH] Replay: keep airspeed msgs in log

---
 Tools/Replay/LogReader.cpp | 27 +++++++++++----------------
 Tools/Replay/Replay.pde    |  2 ++
 2 files changed, 13 insertions(+), 16 deletions(-)

diff --git a/Tools/Replay/LogReader.cpp b/Tools/Replay/LogReader.cpp
index b412831545..e5323fc4a9 100644
--- a/Tools/Replay/LogReader.cpp
+++ b/Tools/Replay/LogReader.cpp
@@ -77,14 +77,6 @@ struct PACKED log_Plane_Attitude {
     uint16_t error_yaw;
 };
 
-struct PACKED log_AIRSPEED {
-    LOG_PACKET_HEADER;
-    uint32_t timestamp;
-    float   airspeed;
-    float   diffpressure;
-    int16_t temperature;
-};
-
 struct PACKED log_Copter_Attitude {
     LOG_PACKET_HEADER;
     uint32_t time_ms;
@@ -163,7 +155,8 @@ void LogReader::process_plane(uint8_t type, uint8_t *data, uint16_t length)
         break;
     }
 
-    case LOG_PLANE_AIRSPEED_MSG: {
+    case LOG_PLANE_AIRSPEED_MSG:
+    case LOG_ARSP_MSG: {
         struct log_AIRSPEED msg;
         if (sizeof(msg) != length && length != sizeof(msg)+8) {
             printf("Bad AIRSPEED length\n");
@@ -172,6 +165,7 @@ void LogReader::process_plane(uint8_t type, uint8_t *data, uint16_t length)
         memcpy(&msg, data, sizeof(msg));
         wait_timestamp(msg.timestamp);
         airspeed.setHIL(msg.airspeed, msg.diffpressure, msg.temperature);
+        dataflash.Log_Write_Airspeed(airspeed);
         break;
     }
     }
@@ -359,11 +353,12 @@ bool LogReader::update(uint8_t &type)
 
     case LOG_IMU_MSG: {
         struct log_IMU msg;
-        if(sizeof(msg) != f.length) {
-            printf("Bad IMU length\n");
+        if (sizeof(msg) != f.length && sizeof(msg) != f.length+8) {
+            printf("Bad IMU length %u expected %u\n",
+                   (unsigned)sizeof(msg), (unsigned)f.length);
             exit(1);
         }
-        memcpy(&msg, data, sizeof(msg));
+        memcpy(&msg, data, f.length);
         wait_timestamp(msg.timestamp);
         if (gyro_mask & 1) {
             ins.set_gyro(0, Vector3f(msg.gyro_x, msg.gyro_y, msg.gyro_z));
@@ -377,11 +372,12 @@ bool LogReader::update(uint8_t &type)
 
     case LOG_IMU2_MSG: {
         struct log_IMU msg;
-        if(sizeof(msg) != f.length) {
-            printf("Bad IMU2 length\n");
+        if (sizeof(msg) != f.length && sizeof(msg) != f.length+8) {
+            printf("Bad IMU2 length %u expected %u\n",
+                   (unsigned)sizeof(msg), (unsigned)f.length);
             exit(1);
         }
-        memcpy(&msg, data, sizeof(msg));
+        memcpy(&msg, data, f.length);
         wait_timestamp(msg.timestamp);
         if (gyro_mask & 2) {
             ins.set_gyro(1, Vector3f(msg.gyro_x, msg.gyro_y, msg.gyro_z));
@@ -528,7 +524,6 @@ bool LogReader::update(uint8_t &type)
         break;
     }
 
-
     default:
         if (vehicle == VEHICLE_PLANE) {
             process_plane(f.type, data, f.length);
diff --git a/Tools/Replay/Replay.pde b/Tools/Replay/Replay.pde
index a63aed7e94..c5ced3d984 100644
--- a/Tools/Replay/Replay.pde
+++ b/Tools/Replay/Replay.pde
@@ -209,6 +209,8 @@ void setup()
 
     if (arm_time_ms != 0) {
         ahrs.set_armed(false);
+    } else {
+        ahrs.set_armed(true);
     }
 
     barometer.init();