Manlius > (Or Malim, brother of Mempricius, son of Maddan)
5 For thirst of single kingdom him he killed.
single > [an undivided]
6 But Ebraucus salved both their infamies
Ebraucus > (Son of Mempricius) salved > remedied, made up for
7 With noble deeds, and warrayed on Brunchildis
warrayed > waged war Brunchildis > (Prince of Hainaut)
8 In Hainaut, where yet of his victories
Hainaut > (A province of Belgium) yet > still, even today
9 Brave monuments remain, which yet that land envies.