From 24e2d2d676fc9e70561a900fabb94c8451191d9b Mon Sep 17 00:00:00 2001
From: Thad House <ThadHouse@users.noreply.github.com>
Date: Tue, 15 Jul 2025 21:18:17 -0700
Subject: [PATCH] [hal] Remove DS Data timeout (#8083)

---
 hal/src/main/native/systemcore/FRCDriverStation.cpp | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/hal/src/main/native/systemcore/FRCDriverStation.cpp b/hal/src/main/native/systemcore/FRCDriverStation.cpp
index 564623cf91..f7d59aa3c1 100644
--- a/hal/src/main/native/systemcore/FRCDriverStation.cpp
+++ b/hal/src/main/native/systemcore/FRCDriverStation.cpp
@@ -608,13 +608,14 @@ HAL_Bool HAL_RefreshDSData(void) {
   int64_t dataTime{0};
   bool dataValid = systemServerDs->GetLastControlData(&newestData, &dataTime);
 
-  auto now = wpi::Now();
-  auto delta = now - dataTime;
+  // auto now = wpi::Now();
+  // auto delta = now - dataTime;
 
   bool updatedData = false;
 
   // Data newer then 125ms, and we have a DS connected
-  if (dataValid && delta < 125000 && newestData.ControlWord.DsConnected) {
+  // TODO add a new way to detect if mrccomm has stopped.
+  if (dataValid /* && delta < 125000 */ && newestData.ControlWord.DsConnected) {
     // Update the cache.
     cacheToUpdate->Update(newestData);
     updatedData = true;