From ef505520d7ab8eef04e28bbc3ed9b36ad1e6aa65 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Tue, 21 Mar 2017 10:16:19 -0500
Subject: small changes

---
 src/body.cpp | 6 +++---
 src/main.cpp | 4 ++--
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/src/body.cpp b/src/body.cpp
index e6bfb6c..2a907a1 100644
--- a/src/body.cpp
+++ b/src/body.cpp
@@ -84,7 +84,7 @@ Matrix<double,1,1>
 Body::R()
 {
     Matrix<double,1,1> R;
-    R << 1e-8;
+    R << 1e-3;
     return R;
 }
 
@@ -104,8 +104,8 @@ Body::Q (double dt)
     Q.block<3,3>(3,0) = 0.5*dt*dt*dt*Matrix<double,3,3>::Identity();
     Q.block<3,3>(0,3) = 0.5*dt*dt*dt*Matrix<double,3,3>::Identity();
     Q.block<3,3>(3,3) = dt*dt*Matrix<double,3,3>::Identity();
-    Q *= 800e-6;
-    Q.block<3,3>(6,6) = dt*dt*5e-3*Matrix<double,3,3>::Identity();
+    Q *= 800e-5;
+    Q.block<3,3>(6,6) = dt*dt*5e-6*Matrix<double,3,3>::Identity();
     return Q;
 }		/* -----  end of method Body::q  ----- */
 
diff --git a/src/main.cpp b/src/main.cpp
index 6da1cb4..cde65f5 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -249,13 +249,13 @@ while (scanf("%s", line)!=EOF) {
 
         case INSPVAS:	
             pvaCallback(msg, mu, qbw);
-            if (seenutm && seencov && seenpva)
-                mu.unicsv();
             break;
 
         case RAWIMUS:	
             dt = update_dt(msg.stamp, &t_old);
             imuCallback(msg, mu, qbw, dt);
+            if (seenutm && seencov && seenpva)
+                mu.unicsv();
             break;
 
         case INSCOVS:
-- 
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