diff --git a/Tools/Replay/LR_MsgHandler.cpp b/Tools/Replay/LR_MsgHandler.cpp
index cbdca233afaf68..ea2db67cdfb787 100644
--- a/Tools/Replay/LR_MsgHandler.cpp
+++ b/Tools/Replay/LR_MsgHandler.cpp
@@ -39,6 +39,12 @@ void LR_MsgHandler_RFRF::process_message(uint8_t *msgbytes)
     }
 #undef MAP_FLAG
     AP::dal().handle_message(msg, ekf2, ekf3);
+    if (eahrs.get_name() == nullptr) {
+        eahrs.init();
+    }
+    if (eahrs.get_name() != nullptr) {
+        eahrs.update();
+    }
 }
 
 void LR_MsgHandler_RFRN::process_message(uint8_t *msgbytes)
@@ -75,7 +81,7 @@ void LR_MsgHandler_REV2::process_message(uint8_t *msgbytes)
         break;
     }
     if (replay_force_ekf3) {
-        LR_MsgHandler_REV3 h{f, ekf2, ekf3};
+        LR_MsgHandler_REV3 h{f, ekf2, ekf3, eahrs};
         h.process_message(msgbytes);
     }
 }
@@ -90,7 +96,7 @@ void LR_MsgHandler_RSO2::process_message(uint8_t *msgbytes)
     ekf2.setOriginLLH(loc);
 
     if (replay_force_ekf3) {
-        LR_MsgHandler_RSO2 h{f, ekf2, ekf3};
+        LR_MsgHandler_RSO2 h{f, ekf2, ekf3, eahrs};
         h.process_message(msgbytes);
     }
 }
@@ -100,7 +106,7 @@ void LR_MsgHandler_RWA2::process_message(uint8_t *msgbytes)
     MSG_CREATE(RWA2, msgbytes);
     ekf2.writeDefaultAirSpeed(msg.airspeed);
     if (replay_force_ekf3) {
-        LR_MsgHandler_RWA2 h{f, ekf2, ekf3};
+        LR_MsgHandler_RWA2 h{f, ekf2, ekf3, eahrs};
         h.process_message(msgbytes);
     }
 }
@@ -136,7 +142,7 @@ void LR_MsgHandler_REV3::process_message(uint8_t *msgbytes)
     }
 
     if (replay_force_ekf2) {
-        LR_MsgHandler_REV2 h{f, ekf2, ekf3};
+        LR_MsgHandler_REV2 h{f, ekf2, ekf3, eahrs};
         h.process_message(msgbytes);
     }
 }
@@ -150,7 +156,7 @@ void LR_MsgHandler_RSO3::process_message(uint8_t *msgbytes)
     loc.alt = msg.alt;
     ekf3.setOriginLLH(loc);
     if (replay_force_ekf2) {
-        LR_MsgHandler_RSO2 h{f, ekf2, ekf3};
+        LR_MsgHandler_RSO2 h{f, ekf2, ekf3, eahrs};
         h.process_message(msgbytes);
     }
 }
@@ -160,7 +166,7 @@ void LR_MsgHandler_RWA3::process_message(uint8_t *msgbytes)
     MSG_CREATE(RWA3, msgbytes);
     ekf3.writeDefaultAirSpeed(msg.airspeed, msg.uncertainty);
     if (replay_force_ekf2) {
-        LR_MsgHandler_RWA2 h{f, ekf2, ekf3};
+        LR_MsgHandler_RWA2 h{f, ekf2, ekf3, eahrs};
         h.process_message(msgbytes);
     }
 }
diff --git a/Tools/Replay/LR_MsgHandler.h b/Tools/Replay/LR_MsgHandler.h
index 4e30a6571d35ce..a5632ba58c9bcf 100644
--- a/Tools/Replay/LR_MsgHandler.h
+++ b/Tools/Replay/LR_MsgHandler.h
@@ -5,6 +5,7 @@
 #include <AP_GPS/AP_GPS.h>
 #include <AP_NavEKF2/AP_NavEKF2.h>
 #include <AP_NavEKF3/AP_NavEKF3.h>
+#include <AP_ExternalAHRS/AP_ExternalAHRS.h>
 
 class LR_MsgHandler : public MsgHandler {
 public:
@@ -28,15 +29,20 @@ class LR_MsgHandler_RFRH : public LR_MsgHandler
 class LR_MsgHandler_EKF : public LR_MsgHandler
 {
 public:
-    LR_MsgHandler_EKF(struct log_Format &_f, NavEKF2 &_ekf2, NavEKF3 &_ekf3) :
+    LR_MsgHandler_EKF(struct log_Format &_f,
+                      NavEKF2 &_ekf2,
+                      NavEKF3 &_ekf3,
+                      AP_ExternalAHRS &_eahrs) :
         LR_MsgHandler(_f),
         ekf2(_ekf2),
-        ekf3(_ekf3) {}
+        ekf3(_ekf3),
+        eahrs(_eahrs){}
     using LR_MsgHandler::LR_MsgHandler;
     virtual void process_message(uint8_t *msg) override = 0;
 protected:
     NavEKF2 &ekf2;
     NavEKF3 &ekf3;
+    AP_ExternalAHRS &eahrs;
 };
 
 class LR_MsgHandler_RFRF : public LR_MsgHandler_EKF
diff --git a/Tools/Replay/LogReader.cpp b/Tools/Replay/LogReader.cpp
index 7c1b1a43948695..957e24d7106ae7 100644
--- a/Tools/Replay/LogReader.cpp
+++ b/Tools/Replay/LogReader.cpp
@@ -22,11 +22,12 @@
 
 extern struct user_parameter *user_parameters;
 
-LogReader::LogReader(struct LogStructure *log_structure, NavEKF2 &_ekf2, NavEKF3 &_ekf3) :
+LogReader::LogReader(struct LogStructure *log_structure, NavEKF2 &_ekf2, NavEKF3 &_ekf3, AP_ExternalAHRS &_eahrs) :
     AP_LoggerFileReader(),
     _log_structure(log_structure),
     ekf2(_ekf2),
-    ekf3(_ekf3)
+    ekf3(_ekf3),
+    eahrs(_eahrs)
 {
 }
 
@@ -65,23 +66,23 @@ bool LogReader::handle_log_format_msg(const struct log_Format &f)
     } else if (streq(name, "RFRH")) {
         msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RFRH(formats[f.type]);
     } else if (streq(name, "RFRF")) {
-        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RFRF(formats[f.type], ekf2, ekf3);
+        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RFRF(formats[f.type], ekf2, ekf3, eahrs);
     } else if (streq(name, "RFRN")) {
         msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RFRN(formats[f.type]);
     } else if (streq(name, "REV2")) {
-        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_REV2(formats[f.type], ekf2, ekf3);
+        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_REV2(formats[f.type], ekf2, ekf3, eahrs);
 	} else if (streq(name, "RSO2")) {
-        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RSO2(formats[f.type], ekf2, ekf3);
+        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RSO2(formats[f.type], ekf2, ekf3, eahrs);
 	} else if (streq(name, "RWA2")) {
-        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RWA2(formats[f.type], ekf2, ekf3);
+        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RWA2(formats[f.type], ekf2, ekf3, eahrs);
 	} else if (streq(name, "REV3")) {
-        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_REV3(formats[f.type], ekf2, ekf3);
+        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_REV3(formats[f.type], ekf2, ekf3, eahrs);
 	} else if (streq(name, "RSO3")) {
-        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RSO3(formats[f.type], ekf2, ekf3);
+        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RSO3(formats[f.type], ekf2, ekf3, eahrs);
 	} else if (streq(name, "RWA3")) {
-        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RWA3(formats[f.type], ekf2, ekf3);
+        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RWA3(formats[f.type], ekf2, ekf3, eahrs);
 	} else if (streq(name, "REY3")) {
-        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_REY3(formats[f.type], ekf2, ekf3);
+        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_REY3(formats[f.type], ekf2, ekf3, eahrs);
 	} else if (streq(name, "RISH")) {
 	    msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RISH(formats[f.type]);
 	} else if (streq(name, "RISI")) {
@@ -115,17 +116,17 @@ bool LogReader::handle_log_format_msg(const struct log_Format &f)
     } else if (streq(name, "RVOH")) {
         msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RVOH(formats[f.type]);
     } else if (streq(name, "ROFH")) {
-        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_ROFH(formats[f.type], ekf2, ekf3);
+        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_ROFH(formats[f.type], ekf2, ekf3, eahrs);
     } else if (streq(name, "REPH")) {
-        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_REPH(formats[f.type], ekf2, ekf3);
+        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_REPH(formats[f.type], ekf2, ekf3, eahrs);
 	} else if (streq(name, "RSLL")) {
-        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RSLL(formats[f.type], ekf2, ekf3);
+        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RSLL(formats[f.type], ekf2, ekf3, eahrs);
     } else if (streq(name, "REVH")) {
-        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_REVH(formats[f.type], ekf2, ekf3);
+        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_REVH(formats[f.type], ekf2, ekf3, eahrs);
     } else if (streq(name, "RWOH")) {
-        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RWOH(formats[f.type], ekf2, ekf3);
+        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RWOH(formats[f.type], ekf2, ekf3, eahrs);
     } else if (streq(name, "RBOH")) {
-        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RBOH(formats[f.type], ekf2, ekf3);
+        msgparser[f.type] = NEW_NOTHROW LR_MsgHandler_RBOH(formats[f.type], ekf2, ekf3, eahrs);
 	} else {
         // debug("  No parser for (%s)\n", name);
     }
diff --git a/Tools/Replay/LogReader.h b/Tools/Replay/LogReader.h
index 340828c9670b23..e1ddf9316722b8 100644
--- a/Tools/Replay/LogReader.h
+++ b/Tools/Replay/LogReader.h
@@ -8,7 +8,7 @@
 class LogReader : public AP_LoggerFileReader
 {
 public:
-    LogReader(struct LogStructure *log_structure, NavEKF2 &_ekf, NavEKF3 &_ekf3);
+    LogReader(struct LogStructure *log_structure, NavEKF2 &_ekf, NavEKF3 &_ekf3, AP_ExternalAHRS &_eahrs);
 
     VehicleType::vehicle_type vehicle;
 
@@ -26,6 +26,7 @@ class LogReader : public AP_LoggerFileReader
 
     NavEKF2 &ekf2;
     NavEKF3 &ekf3;
+    AP_ExternalAHRS &eahrs;
 
     struct LogStructure *_log_structure;
     uint8_t _log_structure_count;
diff --git a/Tools/Replay/Parameters.h b/Tools/Replay/Parameters.h
index af17de6997d4f1..ef288c42fe1236 100644
--- a/Tools/Replay/Parameters.h
+++ b/Tools/Replay/Parameters.h
@@ -17,6 +17,7 @@ class Parameters {
         k_param_logger,
         k_param_NavEKF3,
         k_param_gps,
+        k_param_eahrs,
     };
     AP_Int8 dummy;
 };
diff --git a/Tools/Replay/Replay.cpp b/Tools/Replay/Replay.cpp
index d705933b701805..d445b3e5075852 100644
--- a/Tools/Replay/Replay.cpp
+++ b/Tools/Replay/Replay.cpp
@@ -76,12 +76,18 @@ const AP_Param::Info ReplayVehicle::var_info[] = {
     // @Group: GPS
     // @Path: ../libraries/AP_GPS/AP_GPS.cpp
     GOBJECT(gps, "GPS", AP_GPS),
+
+    // @Group: EAHRS
+    // @Path: ../libraries/AP_ExternalAHRS/AP_ExternalAHRS.cpp
+    GOBJECTPTR(eahrs, "EAHRS", AP_ExternalAHRS),
     
     AP_VAREND
 };
 
 void ReplayVehicle::load_parameters(void)
 {
+    eahrs = &AP::externalAHRS();
+
     AP_Param::check_var_info();
 
     StorageManager::erase();
@@ -239,6 +245,7 @@ void Replay::setup()
         ::printf("open(%s): %m\n", filename);
         exit(1);
     }
+    _vehicle.eahrs = &AP::externalAHRS();
 }
 
 void Replay::loop()
diff --git a/Tools/Replay/Replay.h b/Tools/Replay/Replay.h
index 6e4a6c0429e82e..27ed8605a763ca 100644
--- a/Tools/Replay/Replay.h
+++ b/Tools/Replay/Replay.h
@@ -57,6 +57,7 @@ class ReplayVehicle : public AP_Vehicle {
 
     NavEKF2 ekf2;
     NavEKF3 ekf3;
+    AP_ExternalAHRS *eahrs;
 
     SRV_Channels servo_channels;
 
@@ -99,7 +100,7 @@ class Replay : public AP_HAL::HAL::Callbacks {
     const char *filename;
     ReplayVehicle &_vehicle;
 
-    LogReader reader{_vehicle.log_structure, _vehicle.ekf2, _vehicle.ekf3};
+    LogReader reader{_vehicle.log_structure, _vehicle.ekf2, _vehicle.ekf3, AP::externalAHRS()};
 
     void _parse_command_line(uint8_t argc, char * const argv[]);