From 3d2f07e757a5ddae006f74aef23cab82431be030 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sat, 7 Nov 2020 16:57:11 +1100
Subject: [PATCH] Replay: support body frame odometry

---
 Tools/Replay/LR_MsgHandler.cpp | 5 +++++
 Tools/Replay/LR_MsgHandler.h   | 6 ++++++
 Tools/Replay/LogReader.cpp     | 2 ++
 3 files changed, 13 insertions(+)

diff --git a/Tools/Replay/LR_MsgHandler.cpp b/Tools/Replay/LR_MsgHandler.cpp
index a61ebc1cf2..1a399f906a 100644
--- a/Tools/Replay/LR_MsgHandler.cpp
+++ b/Tools/Replay/LR_MsgHandler.cpp
@@ -247,6 +247,11 @@ void LR_MsgHandler_RWOH::process_message(uint8_t *msg)
     AP::dal().handle_message(MSG_CAST(RWOH,msg), ekf2, ekf3);
 }
 
+void LR_MsgHandler_RBOH::process_message(uint8_t *msg)
+{
+    AP::dal().handle_message(MSG_CAST(RBOH,msg), ekf2, ekf3);
+}
+
 void LR_MsgHandler_REPH::process_message(uint8_t *msg)
 {
     AP::dal().handle_message(MSG_CAST(REPH,msg), ekf2, ekf3);
diff --git a/Tools/Replay/LR_MsgHandler.h b/Tools/Replay/LR_MsgHandler.h
index 4ef3fcebe0..beee21e3a0 100644
--- a/Tools/Replay/LR_MsgHandler.h
+++ b/Tools/Replay/LR_MsgHandler.h
@@ -106,6 +106,12 @@ class LR_MsgHandler_RWOH : public LR_MsgHandler_EKF
     void process_message(uint8_t *msg) override;
 };
 
+class LR_MsgHandler_RBOH : public LR_MsgHandler_EKF
+{
+    using LR_MsgHandler_EKF::LR_MsgHandler_EKF;
+    void process_message(uint8_t *msg) override;
+};
+
 class LR_MsgHandler_RFRN : public LR_MsgHandler
 {
 public:
diff --git a/Tools/Replay/LogReader.cpp b/Tools/Replay/LogReader.cpp
index 3e7e6680c4..8185700b80 100644
--- a/Tools/Replay/LogReader.cpp
+++ b/Tools/Replay/LogReader.cpp
@@ -228,6 +228,8 @@ bool LogReader::handle_log_format_msg(const struct log_Format &f)
         msgparser[f.type] = new LR_MsgHandler_REVH(formats[f.type], ekf2, ekf3);
     } else if (streq(name, "RWOH")) {
         msgparser[f.type] = new LR_MsgHandler_RWOH(formats[f.type], ekf2, ekf3);
+    } else if (streq(name, "RBOH")) {
+        msgparser[f.type] = new LR_MsgHandler_RBOH(formats[f.type], ekf2, ekf3);
 	} else {
         // debug("  No parser for (%s)\n", name);
     }