diff --git a/Tools/Replay/LR_MsgHandler.cpp b/Tools/Replay/LR_MsgHandler.cpp
index f6ef67f386..9b096e02ab 100644
--- a/Tools/Replay/LR_MsgHandler.cpp
+++ b/Tools/Replay/LR_MsgHandler.cpp
@@ -128,7 +128,6 @@ void LR_MsgHandler_GPS2::process_message(uint8_t *msg)
     update_from_msg_gps(1, msg);
 }
 
-
 void LR_MsgHandler_GPS_Base::update_from_msg_gps(uint8_t gps_offset, uint8_t *msg)
 {
     uint64_t time_us;
@@ -184,6 +183,34 @@ void LR_MsgHandler_GPS::process_message(uint8_t *msg)
 }
 
 
+void LR_MsgHandler_GPA_Base::update_from_msg_gpa(uint8_t gps_offset, uint8_t *msg)
+{
+    uint64_t time_us;
+    require_field(msg, "TimeUS", time_us);
+    wait_timestamp_usec(time_us);
+
+    uint16_t vdop, hacc, vacc, sacc;
+    require_field(msg, "VDop", vdop);
+    require_field(msg, "HAcc", hacc);
+    require_field(msg, "VAcc", vacc);
+    require_field(msg, "SAcc", sacc);
+
+    gps.setHIL_Accuracy(gps_offset, vdop*0.01f, hacc*0.01f, vacc*0.01f, sacc*0.01f);
+}
+
+void LR_MsgHandler_GPA::process_message(uint8_t *msg)
+{
+    update_from_msg_gpa(0, msg);
+}
+
+
+void LR_MsgHandler_GPA2::process_message(uint8_t *msg)
+{
+    update_from_msg_gpa(1, msg);
+}
+
+
+
 void LR_MsgHandler_IMU2::process_message(uint8_t *msg)
 {
   update_from_msg_imu(1, msg);
diff --git a/Tools/Replay/LR_MsgHandler.h b/Tools/Replay/LR_MsgHandler.h
index f67037a562..87a8dd2cb4 100644
--- a/Tools/Replay/LR_MsgHandler.h
+++ b/Tools/Replay/LR_MsgHandler.h
@@ -153,7 +153,6 @@ private:
     uint32_t &ground_alt_cm;
 };
 
-
 class LR_MsgHandler_GPS : public LR_MsgHandler_GPS_Base
 {
 public:
@@ -190,6 +189,50 @@ private:
     uint32_t &ground_alt_cm;
 };
 
+class LR_MsgHandler_GPA_Base : public LR_MsgHandler
+{
+
+public:
+    LR_MsgHandler_GPA_Base(log_Format &_f, DataFlash_Class &_dataflash,
+                           uint64_t &_last_timestamp_usec, AP_GPS &_gps)
+        : LR_MsgHandler(_f, _dataflash, _last_timestamp_usec), gps(_gps) { };
+
+protected:
+    void update_from_msg_gpa(uint8_t imu_offset, uint8_t *data);
+
+private:
+    AP_GPS &gps;
+};
+
+
+class LR_MsgHandler_GPA : public LR_MsgHandler_GPA_Base
+{
+public:
+    LR_MsgHandler_GPA(log_Format &_f, DataFlash_Class &_dataflash,
+                      uint64_t &_last_timestamp_usec, AP_GPS &_gps)
+        : LR_MsgHandler_GPA_Base(_f, _dataflash,_last_timestamp_usec,
+                              _gps), gps(_gps) { };
+
+    void process_message(uint8_t *msg);
+
+private:
+    AP_GPS &gps;
+};
+
+class LR_MsgHandler_GPA2 : public LR_MsgHandler_GPA_Base
+{
+public:
+    LR_MsgHandler_GPA2(log_Format &_f, DataFlash_Class &_dataflash,
+                       uint64_t &_last_timestamp_usec, AP_GPS &_gps)
+        : LR_MsgHandler_GPA_Base(_f, _dataflash, _last_timestamp_usec,
+                                 _gps), gps(_gps) { };
+    virtual void process_message(uint8_t *msg);
+private:
+    AP_GPS &gps;
+};
+
+
+
 
 
 class LR_MsgHandler_IMU_Base : public LR_MsgHandler
diff --git a/Tools/Replay/LogReader.cpp b/Tools/Replay/LogReader.cpp
index 8897214686..8f66df41e3 100644
--- a/Tools/Replay/LogReader.cpp
+++ b/Tools/Replay/LogReader.cpp
@@ -178,6 +178,15 @@ bool LogReader::handle_log_format_msg(const struct log_Format &f)
 	    msgparser[f.type] = new LR_MsgHandler_GPS2(formats[f.type], dataflash,
                                                        last_timestamp_usec,
                                                        gps, ground_alt_cm);
+	} else if (streq(name, "GPA")) {
+	    msgparser[f.type] = new LR_MsgHandler_GPA(formats[f.type],
+                                                      dataflash,
+                                                      last_timestamp_usec,
+                                                      gps);
+	} else if (streq(name, "GPA2")) {
+	    msgparser[f.type] = new LR_MsgHandler_GPA2(formats[f.type], dataflash,
+                                                       last_timestamp_usec,
+                                                       gps);
 	} else if (streq(name, "MSG")) {
 	    msgparser[f.type] = new LR_MsgHandler_MSG(formats[f.type], dataflash,
                                                    last_timestamp_usec,