From ec04eba61c136471f8864278c72343df8f61db16 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Wed, 2 Apr 2014 07:49:58 +1100
Subject: [PATCH] Replay: handle multiple GPS sensors

---
 Tools/Replay/LogReader.cpp | 36 ++++++++++++++++++++++++++++++++++--
 1 file changed, 34 insertions(+), 2 deletions(-)

diff --git a/Tools/Replay/LogReader.cpp b/Tools/Replay/LogReader.cpp
index 836c9006df..fe07cc9517 100644
--- a/Tools/Replay/LogReader.cpp
+++ b/Tools/Replay/LogReader.cpp
@@ -382,11 +382,13 @@ bool LogReader::update(uint8_t &type)
         Vector3f vel(msg.ground_speed*0.01f*cosf(msg.ground_course*0.01f),
                      msg.ground_speed*0.01f*sinf(msg.ground_course*0.01f),
                      msg.vel_z);
-        gps.setHIL((AP_GPS::GPS_Status)msg.status,
+        gps.setHIL(0, (AP_GPS::GPS_Status)msg.status,
                    msg.apm_time,
                    loc,
                    vel,
-                   msg.num_sats);
+                   msg.num_sats,
+                   msg.hdop,
+                   msg.vel_z != 0);
         if (msg.status == 3 && ground_alt_cm == 0) {
             ground_alt_cm = msg.altitude;
         }
@@ -394,6 +396,36 @@ bool LogReader::update(uint8_t &type)
         break;
     }
 
+    case LOG_GPS2_MSG: {
+        struct log_GPS2 msg;
+        if(sizeof(msg) != f.length) {
+            printf("Bad GPS2 length\n");
+            exit(1);
+        }
+        memcpy(&msg, data, sizeof(msg));
+        wait_timestamp(msg.apm_time);
+        Location loc;
+        loc.lat = msg.latitude;
+        loc.lng = msg.longitude;
+        loc.alt = msg.altitude;
+        loc.options = 0;
+
+        Vector3f vel(msg.ground_speed*0.01f*cosf(msg.ground_course*0.01f),
+                     msg.ground_speed*0.01f*sinf(msg.ground_course*0.01f),
+                     msg.vel_z);
+        gps.setHIL(1, (AP_GPS::GPS_Status)msg.status,
+                   msg.apm_time,
+                   loc,
+                   vel,
+                   msg.num_sats,
+                   msg.hdop,
+                   msg.vel_z != 0);
+        if (msg.status == 3 && ground_alt_cm == 0) {
+            ground_alt_cm = msg.altitude;
+        }
+        break;
+    }
+
     case LOG_SIMSTATE_MSG: {
         struct log_AHRS msg;
         if(sizeof(msg) != f.length) {