1 files changed, 4 insertions, 1 deletions
diff --git a/src/main.cpp b/src/main.cpp
index 49b6771..e37c2a9 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -264,6 +264,9 @@ pvaCallback(const message &msg, State &mu, Quaterniond &q)
 #endif
         seenpva=true;
     } 
+#if STATESIZE==13
+        mu.qhat(q);
+#endif
     return;
 }
 
@@ -481,6 +484,7 @@ main(int argc, char **argv)
 #else
                 utmCallback(msg, mu,qbw);
 #endif
+                if (seenutm) mu.unicsv();
                 //printf("%f,", msg.stamp.secs+msg.stamp.nsecs*1e-9);
                 break;
 
@@ -495,7 +499,6 @@ main(int argc, char **argv)
             case INSPVAS:	
                 att = msg.attitude;
                 pvaCallback(msg, mu, qbw);
-                if (seenutm) mu.unicsv();
                 break;
 
             case RAWIMUS: