From 037280c17dc5fec1820c1d4f348162fb08103ae8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Wed, 1 Mar 2017 14:41:04 +0100
Subject: [PATCH] sitl: add iris_replay startup script, handle $replay_mode in
 sitl_run.sh

usage:
export replay_mode=ekf2
export replay=<abs_path_to_log.ulg>
make posix none
---
 Tools/sitl_run.sh                        | 14 ++++++++++++++
 posix-configs/SITL/init/ekf2/iris_replay |  7 +++++++
 2 files changed, 21 insertions(+)
 create mode 100644 posix-configs/SITL/init/ekf2/iris_replay

diff --git a/Tools/sitl_run.sh b/Tools/sitl_run.sh
index 954119e89a..703d03ed2e 100755
--- a/Tools/sitl_run.sh
+++ b/Tools/sitl_run.sh
@@ -48,6 +48,20 @@ then
 	model="iris"
 fi
 
+# check replay mode
+if [ "$replay_mode" == "ekf2" ]
+then
+	model="iris_replay"
+	# create the publisher rules
+	mkdir -p $rootfs
+	publisher_rules_file="$rootfs/orb_publisher.rules"
+	cat <<EOF > "$publisher_rules_file"
+restrict_topics: sensor_combined, vehicle_gps_position, vehicle_land_detected
+module: replay
+ignore_others: false
+EOF
+fi
+
 if [ "$#" -lt 7 ]
 then
 	echo usage: sitl_run.sh rc_script rcS_dir debugger program model src_path build_path
diff --git a/posix-configs/SITL/init/ekf2/iris_replay b/posix-configs/SITL/init/ekf2/iris_replay
new file mode 100644
index 0000000000..79977ce79a
--- /dev/null
+++ b/posix-configs/SITL/init/ekf2/iris_replay
@@ -0,0 +1,7 @@
+uorb start
+
+ekf2 start --replay
+logger start -e -t -b 1000 -p vehicle_attitude
+sleep 0.2
+replay start -m ekf2
+