From 039a6e557d23db655b5918f9f3551b9b5978cfa6 Mon Sep 17 00:00:00 2001
From: Fabio Vitello <fvitello@users.noreply.github.com>
Date: Thu, 21 Oct 2021 17:33:24 +0200
Subject: [PATCH] #588 enable elevation tracking when servo is ready

---
 Medicina/Servers/MedicinaMinorServo/src/MSBossTracker.cpp   | 6 +++---
 .../Servers/MedicinaMinorServo/src/MinorServoBossImpl.cpp   | 2 +-
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/Medicina/Servers/MedicinaMinorServo/src/MSBossTracker.cpp b/Medicina/Servers/MedicinaMinorServo/src/MSBossTracker.cpp
index b8d033d4f..941d9dca3 100644
--- a/Medicina/Servers/MedicinaMinorServo/src/MSBossTracker.cpp
+++ b/Medicina/Servers/MedicinaMinorServo/src/MSBossTracker.cpp
@@ -58,16 +58,16 @@ void MSBossTracker::runLoop()
     MedMinorServoPosition offset_position, correct_position;
 
     IRA::CTimer timer;
-    bool tracking = false;
+
     while(!(m_status->ready))
     {
+        usleep(5000000);
         if(timer.elapsed() > READY_MAX_WAIT)
         {
             throw ServoTimeoutError("Timeout wating for Minor Servo to became ready");
         }
-
     }
-
+    m_status->elevation_tracking = true;
     if(m_status->elevation_tracking)
     {
         try {
diff --git a/Medicina/Servers/MedicinaMinorServo/src/MinorServoBossImpl.cpp b/Medicina/Servers/MedicinaMinorServo/src/MinorServoBossImpl.cpp
index 98353f0d0..3b0d7e80b 100644
--- a/Medicina/Servers/MedicinaMinorServo/src/MinorServoBossImpl.cpp
+++ b/Medicina/Servers/MedicinaMinorServo/src/MinorServoBossImpl.cpp
@@ -856,7 +856,7 @@ throw (MinorServoErrors::MinorServoErrorsEx)
         m_tracking_thread_ptr = NULL;
     }
 
-    m_servo_status.elevation_tracking = true;
+    //m_servo_status.elevation_tracking = true;
     try {
         TrackerThreadParameters params(&m_servo_status,
                                         m_control,
-- 
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