- Fixed sicsprompt bug. Sicsprompt caused a core dump

- Removed generation of incommenurate reflections for 0,0,0 in fourmess.c
- Implemented a Poch command for heartbeats
- Fixed 64 bit dimension issues in nxdict
- Fixed different calling conventions for NXReportError deep stack in nxdict
- Stopped ei motor driving when not necessary
- Added yet another monitor for POLDI
- Added a protocoll driver for the JVL motor RS-485 binary protocoll
- Fixed some reporting issues


SKIPPED:
	psi/jvlprot.c
	psi/make_gen
	psi/polterwrite.c
	psi/psi.c
	psi/spss7.c

tasdrive.c

@@ -40,6 +40,8 @@ static long TASSetValue(void *pData, SConnection * pCon, float value)
 {
   ptasMot self = (ptasMot) pData;
   assert(self);
+  int qcodes[] = {3,4,5,8}; /* qh,qk,ql, en */
+  int i;
 
   if (self->code > 5 && self->math->tasMode == ELASTIC) {
     SCWrite(pCon, "ERROR: cannot drive this motor in elastic mode",
@@ -48,6 +50,11 @@ static long TASSetValue(void *pData, SConnection * pCon, float value)
   }
   setTasPar(&self->math->target, self->math->tasMode, self->code, value);
   self->math->mustDrive = 1;
+  for(i = 0; i < 4; i++){
+    if(self->code == qcodes[i]) {
+      self->math->mustDriveQ = 1;
+    }
+  }
   return OKOK;
 }
 
@@ -525,16 +532,25 @@ static int calculateAndDrive(ptasMot self, SConnection * pCon)
     driveTilt = 0;
   }
 
+  if(self->math->mustDriveQ == 0){
+    driveQ = 0;
+  } 
+
+
   if (driveQ != 0) {
     if (!checkQMotorLimits(self, pCon, angles, driveTilt)) {
       driveQ = 0;
     }
   }
 
-  if (driveQ == 0) {
+  if (driveQ == 0 && self->math->mustDriveQ == 1) {
     SCWrite(pCon, "WARNING: NOT driving Q-vector because of errors",
             eError);
   }
+  /* 
+   * reset the Q flag
+   */
+  self->math->mustDriveQ = 0;
   return startMotors(self, angles, pCon, driveQ, driveTilt);
 }