From 1cf0e3351a7190c654ebed8739459f1124324074 Mon Sep 17 00:00:00 2001
From: Koennecke Mark <mark.koennecke@psi.ch>
Date: Thu, 4 Dec 2014 11:35:26 +0100
Subject: [PATCH] - 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 | 2 +-
 spss7.c   | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/amorset.c b/amorset.c
index 9f1478b..501ddea 100644
--- a/amorset.c
+++ b/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;
diff --git a/spss7.c b/spss7.c
index 6e64ca8..e82868c 100644
--- a/spss7.c
+++ b/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: