Replay: cope with FRAM messages

use them to trigger ahrs updates

Tools/Replay/LogReader.cpp

@@ -200,6 +200,9 @@ bool LogReader::update(char type[5])
 	    msgparser[f.type] = new MsgHandler_ARSP(formats[f.type], dataflash,
                                                     last_timestamp_usec,
                                                     airspeed);
+	} else if (streq(name, "FRAM")) {
+	    msgparser[f.type] = new MsgHandler_FRAM(formats[f.type], dataflash,
+                                                    last_timestamp_usec);
 	} else {
             ::printf("  No parser for (%s)\n", name);
 	}

Tools/Replay/MsgHandler.cpp

@@ -345,6 +345,12 @@ void MsgHandler_ARSP::process_message(uint8_t *msg)
     dataflash.WriteBlock(msg, f.length);
 }
 
+void MsgHandler_FRAM::process_message(uint8_t *msg)
+{
+    wait_timestamp_from_msg(msg);
+    dataflash.WriteBlock(msg, f.length);
+}
+
 
 void MsgHandler_ATT::process_message(uint8_t *msg)
 {

Tools/Replay/MsgHandler.h

@@ -206,6 +206,16 @@ private:
     AP_Airspeed &airspeed;
 };
 
+class MsgHandler_FRAM : public MsgHandler
+{
+public:
+    MsgHandler_FRAM(log_Format &_f, DataFlash_Class &_dataflash,
+		    uint64_t &_last_timestamp_usec) :
+	MsgHandler(_f, _dataflash, _last_timestamp_usec) { };
+
+    virtual void process_message(uint8_t *msg);
+};
+
 
 class MsgHandler_ATT : public MsgHandler
 {

Tools/Replay/Replay.pde

@@ -103,6 +103,7 @@ static uint16_t update_rate = 50;
 static uint32_t arm_time_ms;
 static bool ahrs_healthy;
 static bool have_imu2;
+static bool have_fram;
 
 static uint8_t num_user_parameters;
 static struct {
@@ -316,10 +317,23 @@ static void read_sensors(const char *type)
             ::printf("Barometer initialised\n");
             barometer.update_calibration();
         }
+    } 
+
+    bool run_ahrs = false;
+    if (streq(type,"FRAM")) {
+        if (!have_fram) {
+            have_fram = true;
+            printf("Have FRAM framing\n");
+        }
+        run_ahrs = true;
     }
 
     // special handling of IMU messages as these trigger an ahrs.update()
-    if ((streq(type,"IMU") && !have_imu2) || (streq(type, "IMU2") && have_imu2)) {
+    if (!have_fram && 
+        ((streq(type,"IMU") && !have_imu2) || (streq(type, "IMU2") && have_imu2))) {
+        run_ahrs = true;
+    }
+    if (run_ahrs) {
         ahrs.update();
         if (ahrs.get_home().lat != 0) {
             inertial_nav.update(ins.get_delta_time());