diff --git a/wpilibc/athena/include/DriverStation.h b/wpilibc/athena/include/DriverStation.h
index 0f0176c750..67668c8d2a 100644
--- a/wpilibc/athena/include/DriverStation.h
+++ b/wpilibc/athena/include/DriverStation.h
@@ -116,6 +116,7 @@ class DriverStation : public SensorBase, public RobotStateInterface {
   mutable Semaphore m_newControlData{Semaphore::kEmpty};
   mutable priority_condition_variable m_packetDataAvailableCond;
   priority_mutex m_packetDataAvailableMutex;
+  bool m_updatedControlLoopData = false;
   std::condition_variable_any m_waitForDataCond;
   priority_mutex m_waitForDataMutex;
   mutable priority_mutex m_joystickDataMutex;
diff --git a/wpilibc/athena/src/DriverStation.cpp b/wpilibc/athena/src/DriverStation.cpp
index 1822d6e8bc..290be1a641 100644
--- a/wpilibc/athena/src/DriverStation.cpp
+++ b/wpilibc/athena/src/DriverStation.cpp
@@ -80,6 +80,10 @@ void DriverStation::Run() {
       m_packetDataAvailableCond.wait(lock);
     }
     GetData();
+    {
+      std::lock_guard<priority_mutex> lock(m_waitForDataMutex);
+      m_updatedControlLoopData = true;
+    }
     m_waitForDataCond.notify_all();
 
     if (++period >= 4) {
@@ -554,7 +558,10 @@ uint32_t DriverStation::GetLocation() const {
  */
 void DriverStation::WaitForData() {
   std::unique_lock<priority_mutex> lock(m_waitForDataMutex);
-  m_waitForDataCond.wait(lock);
+  while (!m_updatedControlLoopData) {
+    m_waitForDataCond.wait(lock);
+  }
+  m_updatedControlLoopData = false;
 }
 
 /**
diff --git a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DriverStation.java b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DriverStation.java
index d2349a0065..6b96a9b6ae 100644
--- a/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DriverStation.java
+++ b/wpilibj/src/athena/java/edu/wpi/first/wpilibj/DriverStation.java
@@ -99,6 +99,7 @@ public class DriverStation implements RobotState.Interface {
   private boolean m_userInAutonomous = false;
   private boolean m_userInTeleop = false;
   private boolean m_userInTest = false;
+  private boolean m_updatedControlLoopData;
   private boolean m_newControlData;
   private final long m_packetDataAvailableMutex;
   private final long m_packetDataAvailableSem;
@@ -160,6 +161,7 @@ public class DriverStation implements RobotState.Interface {
       HALUtil.takeMultiWait(m_packetDataAvailableSem, m_packetDataAvailableMutex);
       getData();
       synchronized (m_dataSem) {
+        m_updatedControlLoopData = true;
         m_dataSem.notifyAll();
       }
       if (++safetyCounter >= 4) {
@@ -197,7 +199,10 @@ public class DriverStation implements RobotState.Interface {
   public void waitForData(long timeout) {
     synchronized (m_dataSem) {
       try {
-        m_dataSem.wait(timeout);
+        while (!m_updatedControlLoopData) {
+          m_dataSem.wait(timeout);
+        }
+        m_updatedControlLoopData = false;
       } catch (InterruptedException ex) {
         Thread.currentThread().interrupt();
       }