- Fixed a sign problem in amorset.c regarding aom and cox

- Fixed a bad encoding of float values when writing to the SPS

amorset.c

@@ -272,7 +272,7 @@ static int updateActualPositions(pamorSet self, SConnection * pCon)
 	  aoz = getListMotorPosition(readList, "aoz");
 	  sah = ABS(calcCompPosition(&self->A) - calcCompPosition(&self->S));
 	  self->actuals2t = Atand((aoz-soz)/sah) + self->actualm2t;
-	  self->actualath = self->actuals2t - self->actualm2t - aom;
+	  self->actualath = -(self->actuals2t - self->actualm2t - aom);
   } else {
 	  com = getListMotorPosition(readList, "com");
 	  self->actuals2t = com + self->actualm2t;

spss7.c

@@ -290,7 +290,8 @@ static hdbCallbackReturn S7WriteCallback(pHdb currentNode,
 			break;
 		case 3:
 				fval = (float)mm->v->v.doubleValue;
-				idata = htonl((int)fval);
+				memcpy(&idata,&fval,4);
+				idata = htonl(idata);
 				MakeWriteMessage(writeAction,offset,4,&idata);
 				break;
 		default: