diff --git a/buzz_scripts/include/act/states.bzz b/buzz_scripts/include/act/states.bzz
index a4746af..c708df9 100644
--- a/buzz_scripts/include/act/states.bzz
+++ b/buzz_scripts/include/act/states.bzz
@@ -10,7 +10,7 @@ include "utils/conversions.bzz"
 TARGET_ALTITUDE = 15.0 # m.
 BVMSTATE = "TURNEDOFF"
 PICTURE_WAIT = 20 # steps
-GOTO_MAXVEL = 2.0 # m/steps
+GOTO_MAXVEL = 0.2 # m/steps
 GOTO_MAXDIST = 150 # m.
 GOTODIST_TOL = 1.0  # m.
 GOTOANG_TOL = 0.1 # rad.
diff --git a/include/roscontroller.h b/include/roscontroller.h
index 9713a9d..f1604f0 100644
--- a/include/roscontroller.h
+++ b/include/roscontroller.h
@@ -104,8 +104,8 @@ private:
     uint16_t nid;
     uint16_t size;
     double sent_time;
-    double received_time;
-    MsgData(int mi, uint16_t ni, uint16_t s, double st, double rt): 
+    uint64_t received_time;
+    MsgData(int mi, uint16_t ni, uint16_t s, double st, uint64_t rt): 
             msgid(mi), nid(ni), size(s),sent_time(st), received_time(rt){};
     MsgData(){};
   };
@@ -122,7 +122,7 @@ private:
   ros::Time logical_clock;
   ros::Time previous_step_time;
   std::vector<msg_data> inmsgdata; 
-  double out_msg_time; 
+  uint64_t out_msg_time; 
   double logical_time_rate;
   bool time_sync_jumped;
   std::string robot_name = "";
diff --git a/src/roscontroller.cpp b/src/roscontroller.cpp
index ba440e6..2441720 100644
--- a/src/roscontroller.cpp
+++ b/src/roscontroller.cpp
@@ -176,25 +176,25 @@ void roscontroller::RosControllerRun()
       log<<ros::Time::now().toSec()<<",";
       get_logical_time();
       // logical time now
-      log<<logical_clock.toSec()<<",";
+      log<<logical_clock.toNSec()<<",";
       log<<buzz_utility::get_timesync_itr()<<",";
       log<<buzz_utility::get_timesync_state()<<",";
 
-      log<<cur_pos.latitude << "," << cur_pos.longitude << ","
-            << cur_pos.altitude << ",";
+      log<<cur_pos.latitude * 100000 << "," << cur_pos.longitude * 100000 << ","
+            << cur_pos.altitude * 100000 << ",";
       log << (int)no_of_robots<<",";
       log  << neighbours_pos_map.size()<< ",";
       log<<(int)inmsgdata.size()<<",";
       log<< message_number<<",";
       log<< out_msg_time<<",";
       log <<buzz_utility::getuavstate();
-      if(neighbours_pos_map.size() > 0)log<<",";
+      // if(neighbours_pos_map.size() > 0)log<<",";
       map<int, buzz_utility::Pos_struct>::iterator it =
             neighbours_pos_map.begin();
       for (; it != neighbours_pos_map.end(); ++it)
       {
         log<< it->first<<",";
-        log << (double)it->second.x << "," << (double)it->second.y
+        log <<","<< (double)it->second.x << "," << (double)it->second.y
             << "," << (double)it->second.z;
       }
       for (std::vector<msg_data>::iterator it = inmsgdata.begin() ; it != inmsgdata.end(); ++it){
@@ -654,7 +654,7 @@ with size.........  |   /
   }
   //Store out msg time
   get_logical_time();
-  out_msg_time = logical_clock.toSec();
+  out_msg_time = logical_clock.toNSec();
   // publish prepared messages in respective topic
   payload_pub.publish(payload_out);
   delete[] out;
@@ -1171,7 +1171,7 @@ void roscontroller::payload_obt(const mavros_msgs::Mavlink::ConstPtr& msg)
     uint16_t* out = buzz_utility::u64_cvt_u16((uint64_t) * (message_obt + index));
     get_logical_time();
     // store in msg data for data log
-    msg_data inm(mid,out[1],out[0]*sizeof(uint64_t),stime,logical_clock.toSec());
+    msg_data inm(mid,out[1],out[0]*sizeof(uint64_t),stime,logical_clock.toNSec());
     inmsgdata.push_back(inm);
 
     if (debug)