Replay: cope with GPS ground couse in degrees

Tools/Replay/LR_MsgHandler.cpp

@@ -175,8 +175,7 @@ void LR_MsgHandler_GPS_Base::update_from_msg_gps(uint8_t gps_offset, uint8_t *ms
                loc,
                vel,
                nsats,
-               hdop,
-               require_field_float(msg, "VZ") != 0);
+               hdop);
     if (status == AP_GPS::GPS_OK_FIX_3D && ground_alt_cm == 0) {
         ground_alt_cm = require_field_int32_t(msg, "Alt");
     }
@@ -201,8 +200,12 @@ void LR_MsgHandler_GPA_Base::update_from_msg_gpa(uint8_t gps_offset, uint8_t *ms
     require_field(msg, "HAcc", hacc);
     require_field(msg, "VAcc", vacc);
     require_field(msg, "SAcc", sacc);
+    uint8_t have_vertical_velocity;
+    if (! field_value(msg, "VV", have_vertical_velocity)) {
+        have_vertical_velocity = !is_zero(gps.velocity(gps_offset).z);
+    }
 
-    gps.setHIL_Accuracy(gps_offset, vdop*0.01f, hacc*0.01f, vacc*0.01f, sacc*0.01f);
+    gps.setHIL_Accuracy(gps_offset, vdop*0.01f, hacc*0.01f, vacc*0.01f, sacc*0.01f, have_vertical_velocity);
 }
 
 void LR_MsgHandler_GPA::process_message(uint8_t *msg)

Tools/Replay/MsgHandler.cpp

@@ -214,15 +214,21 @@ void MsgHandler::ground_vel_from_msg(uint8_t *msg,
                                     const char *label_vz)
 {
     float ground_speed;
-    int32_t ground_course;
+    float ground_course;
+    // in older logs speed and course are integers
     if (!field_value(msg, label_speed, ground_speed)) {
         uint32_t speed_cms;
         require_field(msg, label_speed, speed_cms);
         ground_speed = speed_cms * 0.01f;
     }
+    if (!field_value(msg, label_course, ground_course)) {
+        uint32_t course_cd;
+        require_field(msg, label_course, course_cd);
+        ground_course = course_cd * 0.01f;
+    }
     require_field(msg, label_course, ground_course);
-    vel[0] = ground_speed*cosf(radians(ground_course*0.01f));
-    vel[1] = ground_speed*sinf(radians(ground_course*0.01f));
+    vel[0] = ground_speed*cosf(radians(ground_course));
+    vel[1] = ground_speed*sinf(radians(ground_course));
     vel[2] = require_field_float(msg, label_vz);
 }