From 7c36660000cd974909ff674cdedb085730b0a676 Mon Sep 17 00:00:00 2001
From: Robin Mueller <muellerr@irs.uni-stuttgart.de>
Date: Tue, 11 Apr 2023 18:15:12 +0200
Subject: [PATCH] that was nasty

---
 linux/acs/AcsBoardPolling.cpp | 10 +++-------
 1 file changed, 3 insertions(+), 7 deletions(-)

diff --git a/linux/acs/AcsBoardPolling.cpp b/linux/acs/AcsBoardPolling.cpp
index 175bd693..938d0e15 100644
--- a/linux/acs/AcsBoardPolling.cpp
+++ b/linux/acs/AcsBoardPolling.cpp
@@ -31,7 +31,7 @@ ReturnValue_t AcsBoardPolling::performOperation(uint8_t operationCode) {
     ipcLock->unlockMutex();
     semaphore->acquire();
     // Give all tasks or the PST some time to submit all consecutive requests.
-    TaskFactory::delayTask(2);
+    TaskFactory::delayTask(3);
     {
       // Measured to take 0-1 ms in debug build.
       // Stopwatch watch;
@@ -113,7 +113,8 @@ ReturnValue_t AcsBoardPolling::sendMessage(CookieIF* cookie, const uint8_t* send
     if (req->mode != adis.mode) {
       if (req->mode == acs::SimpleSensorMode::NORMAL) {
         adis.type = req->type;
-        adis.countdown.setTimeout(adis1650x::START_UP_TIME);
+        // The initial countdown is handled by the device handler now.
+        // adis.countdown.setTimeout(adis1650x::START_UP_TIME);
         if (adis.type == adis1650x::Type::ADIS16507) {
           adis.ownReply.data.accelScaling = adis1650x::ACCELEROMETER_RANGE_16507;
         } else if (adis.type == adis1650x::Type::ADIS16505) {
@@ -449,20 +450,15 @@ ReturnValue_t AcsBoardPolling::readAdisCfg(SpiCookie& cookie, size_t transferLen
 void AcsBoardPolling::gyroAdisHandler(GyroAdis& gyro) {
   ReturnValue_t result;
   acs::SimpleSensorMode mode = acs::SimpleSensorMode::OFF;
-  bool cdHasTimedOut = false;
   bool mustPerformStartup = false;
   {
     MutexGuard mg(ipcLock, LOCK_TYPE, LOCK_TIMEOUT, LOCK_CTX);
     mode = gyro.mode;
-    cdHasTimedOut = gyro.countdown.hasTimedOut();
     mustPerformStartup = gyro.performStartup;
   }
   if (mode == acs::SimpleSensorMode::OFF) {
     return;
   }
-  if (not cdHasTimedOut) {
-    return;
-  }
   if (mustPerformStartup) {
     uint8_t regList[6];
     // Read configuration