diff options
Diffstat (limited to 'src/main.cpp')
| -rw-r--r-- | src/main.cpp | 8 |
1 files changed, 5 insertions, 3 deletions
diff --git a/src/main.cpp b/src/main.cpp index bd31da9..57960dd 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -443,7 +443,7 @@ main(int argc, char **argv) #else /* ----- not ROS_PUBLISH ----- */ // Print unicsv header #if STATESIZE==13 - printf("UTM-Zone,UTM-Ch,UTM-North,UTM-East,Altitude,Vel-X,Vel-Y,Vel-Z,Quat-X,Quat-Y,Quat-Z,Quat-W,Bias-X,Bias-Y,Bias-Z,Nfeats\n"); + printf("GPS-stamp,UTM-Zone,UTM-Ch,UTM-North,UTM-East,Altitude,Vel-X,Vel-Y,Vel-Z,Quat-X,Quat-Y,Quat-Z,Quat-W,Bias-X,Bias-Y,Bias-Z,Nfeats\n"); #else printf("UTM-Zone,UTM-Ch,UTM-North,UTM-East,Altitude,Vel-X,Vel-Y,Vel-Z,Bias-X,Bias-Y,Bias-Z,Nfeats\n"); #endif @@ -463,6 +463,10 @@ main(int argc, char **argv) utmCallback(msg, mu,qbw); #endif //printf("%f,", msg.stamp.secs+msg.stamp.nsecs*1e-9); + if (seenutm && seenpva && seencov) { + printf("%f,", msg.stamp.secs+msg.stamp.nsecs*1e-9); + mu.unicsv(); + } break; case IMG: @@ -491,8 +495,6 @@ main(int argc, char **argv) geometry_msgs::PoseStamped msg; ros::spinOnce(); #else - if (seenutm) mu.unicsv(); - //mu.unicsv(); #endif } } |