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Get Replay running again #13885

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peterbarker commented Mar 25, 2020

This is a small-effort attempt to get Replay running in the form that it has traditionally run in, feeding sensor data in from our existing BARO, GPS messages etc.

It does run, and does reproduce both successful replication of a flight and at least one (justifiable!) FPE.

Future work will look at changing Replay to log input to the EKFs as separate messages which should give us a less-prone-to-break tool.

@peterbarker peterbarker added the WIP label Mar 25, 2020
@peterbarker peterbarker force-pushed the peterbarker:pr/replay-at-least-runs branch from 7f1490e to d391b18 Mar 25, 2020
peterbarker added 9 commits Mar 6, 2020
NKQ is a generated name - don't copy it across to output

Stop whinging about presence of NKF6 and friends; we know these generated names are not going to be present in modern logs

memcpy rather than strncpy within log_FMT

Correct strings vs optionally-terminated structure entries in sanity checks

Call AP_Param::load_all() to start the parameter saving thread.  AP_Compass' init() method now saves parameters (compass reordering), and because we're disarmed we will block until the parameter is pushed onto the to-save queue; if there's no thread popping off that list we block indefinitely.

Remove duplicate definitions of various singleton objects.

Replay: write out GPS message to output log

Useful for diagnosis, but also because we struggle to find a time base
without this and the pymavlink tools take forever to work

Replay: set COMPASS_DEV_ID and COMPASS_PRIO1_ID so EKF gets mag data

Replay: avoid use of system clock; use stopped-clock only

Replay: constraint to emitting output for single core only
We haven't initialised the GCS at all, so it's not a great idea to
update_receive() and the like.
Uusally problems evidence themsleves with stdin not working correctly -
for example, "git add -p" skipping through all queries as if the
user was just pressing enter.
@peterbarker peterbarker force-pushed the peterbarker:pr/replay-at-least-runs branch from d391b18 to 5049c9a Mar 26, 2020
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