Diff: HLComms.cpp

Revision:

33:9877ca32e43c

Parent:

32:8c59c536a2a6

Child:

36:4459be8296e9

--- a/HLComms.cpp	Fri Mar 08 12:44:29 2019 +0000
+++ b/HLComms.cpp	Wed Mar 13 11:59:58 2019 +0000
@@ -97,6 +97,11 @@
     _protected_input.speeds_mmps[1] = min( max(_protected_input.speeds_mmps[1],0.0) , (double)MAX_SPEED_MMPS );
     _protected_input.speeds_mmps[2] = (double)demands_array.data[11];
     _protected_input.speeds_mmps[2] = min( max(_protected_input.speeds_mmps[2],0.0) , (double)MAX_SPEED_MMPS );
+    _protected_input.utitilies_bool[0] = fabs(demands_array.data[12]) > numeric_limits<float>::epsilon();
+    _protected_input.utitilies_bool[1] = fabs(demands_array.data[13]) > numeric_limits<float>::epsilon();
+    _protected_input.utitilies_bool[2] = fabs(demands_array.data[14]) > numeric_limits<float>::epsilon();
+    _protected_input.utitilies_bool[3] = fabs(demands_array.data[15]) > numeric_limits<float>::epsilon();
+    
     recv_mutex.unlock();
     _input = _protected_input;
     newData.release();