Replay: support wheel odomotry

Tools/Replay/LR_MsgHandler.cpp

@@ -242,6 +242,11 @@ void LR_MsgHandler_ROFH::process_message(uint8_t *msg)
     AP::dal().handle_message(MSG_CAST(ROFH,msg), ekf2, ekf3);
 }
 
+void LR_MsgHandler_RWOH::process_message(uint8_t *msg)
+{
+    AP::dal().handle_message(MSG_CAST(RWOH,msg), ekf2, ekf3);
+}
+
 void LR_MsgHandler_REPH::process_message(uint8_t *msg)
 {
     AP::dal().handle_message(MSG_CAST(REPH,msg), ekf2, ekf3);

Tools/Replay/LR_MsgHandler.h

@@ -100,6 +100,12 @@ class LR_MsgHandler_REVH : public LR_MsgHandler_EKF
     void process_message(uint8_t *msg) override;
 };
 
+class LR_MsgHandler_RWOH : public LR_MsgHandler_EKF
+{
+    using LR_MsgHandler_EKF::LR_MsgHandler_EKF;
+    void process_message(uint8_t *msg) override;
+};
+
 class LR_MsgHandler_RFRN : public LR_MsgHandler
 {
 public:

Tools/Replay/LogReader.cpp

@@ -226,6 +226,8 @@ bool LogReader::handle_log_format_msg(const struct log_Format &f)
         msgparser[f.type] = new LR_MsgHandler_REPH(formats[f.type], ekf2, ekf3);
     } else if (streq(name, "REVH")) {
         msgparser[f.type] = new LR_MsgHandler_REVH(formats[f.type], ekf2, ekf3);
+    } else if (streq(name, "RWOH")) {
+        msgparser[f.type] = new LR_MsgHandler_RWOH(formats[f.type], ekf2, ekf3);
 	} else {
         // debug("  No parser for (%s)\n", name);
     }