I'll make two suggestions:
* If the fabric side is OK but the foam side is crumbling and releasing what I do is scrape out all the old foam from the fabric and surface of the loose part, use 3M adhesive remover to get the old adhesive off the surface then re-adhere the loose piece with contact adhesive.
* If the fabric side is messed up or detiorated so that it is hard and scratchy, I remove it, clean the the surface as above, and replace it with thin inexpensive carpet that does not have a foam backing I obtain at Home Depot. The piece you remove is a good template for the new piece.
These suggesttions apply to all the padding in a Cobra trailer except for the wing leading edge saddles. For wing saddles in addition to re-adhereing/replacing the carpet I get the foam backed strip from W&W they have specifically for this purpose and add it on top.
Aland