-

modules/catkin_ws/src/car/src/mainNode/PlatoonController.cpp

@@ -25,15 +25,12 @@ void PlatoonController::updatePcConfig()
     auto otherIPD = pc->getInnerPlatoonDistance();
 
     if (otherPS.getTimestamp() > PS.getTimestamp())
-    {
         PS = otherPS;
-        messageOStream.write("new PS", PS.get());
-    }
+
     if (otherIPD.getTimestamp() > IPD.getTimestamp())
-    {
         IPD = otherIPD;
-        messageOStream.write("new IPD", IPD.get());
-    }
+
+    platoonConfig = platoonProtocol::PlatoonConfig{PS.get(), IPD.get()};
 
     cruiseControllerNotify();
 }