Note from Luis on the ath9k devel list about the pause during scanning.

"If you leave your home channel you cannot be present for data on it.
One way to address this is to scan on each target channel and come
back the home channel, and repeat this for every channel you have to
scan. This is only done with nl80211 though which you would have to
enable manually through a wpa_supplicant configuration file or by
editing your wpa_supplicant dbus service file and enabling new
git-version wpa_supplicant options which are documented on the
wireless wiki [1]. Let us know if that helps."

He also mentions that roaming isn't implemented in nl80211 yet.

-- 
wpa_supplicant  CTRL-EVENT-SCAN-RESULTS crashes ath9k wireless driver
https://bugs.launchpad.net/bugs/460886
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