From 640a04a1ee1646b8e3d67e31e318650641057534 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Tue, 3 May 2016 13:21:42 +1000
Subject: [PATCH] Replay: fixed to handle IMT copter logs

---
 Tools/Replay/LR_MsgHandler.cpp |  2 +-
 Tools/Replay/Replay.cpp        | 14 ++++++++++++--
 2 files changed, 13 insertions(+), 3 deletions(-)

diff --git a/Tools/Replay/LR_MsgHandler.cpp b/Tools/Replay/LR_MsgHandler.cpp
index d839966d9b..e5f34de652 100644
--- a/Tools/Replay/LR_MsgHandler.cpp
+++ b/Tools/Replay/LR_MsgHandler.cpp
@@ -339,7 +339,7 @@ void LR_MsgHandler_NTUN_Copter::process_message(uint8_t *msg)
 
 bool LR_MsgHandler::set_parameter(const char *name, float value)
 {
-    const char *ignore_parms[] = { "GPS_TYPE", "AHRS_EKF_TYPE", "EK2_ENABLE",
+    const char *ignore_parms[] = { "GPS_TYPE", "AHRS_EKF_TYPE", "EK2_ENABLE", "EKF_ENABLE",
                                    "COMPASS_ORIENT", "COMPASS_ORIENT2",
                                    "COMPASS_ORIENT3"};
     for (uint8_t i=0; i < ARRAY_SIZE(ignore_parms); i++) {
diff --git a/Tools/Replay/Replay.cpp b/Tools/Replay/Replay.cpp
index ff775a01fb..e3407b7c3f 100644
--- a/Tools/Replay/Replay.cpp
+++ b/Tools/Replay/Replay.cpp
@@ -145,9 +145,13 @@ const AP_Param::Info ReplayVehicle::var_info[] = {
 
 void ReplayVehicle::load_parameters(void)
 {
+    unlink("Replay.stg");
     if (!AP_Param::check_var_info()) {
         AP_HAL::panic("Bad parameter table");
     }
+    AP_Param::set_default_by_name("EKF_ENABLE", 1);
+    AP_Param::set_default_by_name("EK2_ENABLE", 1);
+    AP_Param::set_default_by_name("AHRS_EKF_TYPE", 2);
 }
 
 /*
@@ -523,12 +527,18 @@ bool Replay::find_log_info(struct log_information &info)
             // using IMU as your clock source will lead to incorrect
             // behaviour.
             if (streq(type, "IMT")) {
-                memcpy(clock_source, "IMT", 3);
+                strcpy(clock_source, "IMT");
             } else if (streq(type, "IMU")) {
-                memcpy(clock_source, "IMU", 3);
+                strcpy(clock_source, "IMU");
             } else {
                 continue;
             }
+            hal.console->printf("Using clock source %s\n", clock_source);
+        }
+        // IMT if available always overrides
+        if (streq(type, "IMT") && strcmp(clock_source, "IMT") != 0) {
+            strcpy(clock_source, "IMT");
+            hal.console->printf("Changing clock source to %s\n", clock_source);
         }
         if (streq(type, clock_source)) {
             if (prev == 0) {