public async void StartCommanderLink()
{
// Set up the cancellation token
if (cancellationSource != null)
{
cancellationSource.Dispose();
}
await bthCrtp.InitCrtpService();
cancellationSource = new CancellationTokenSource();
Task t = Task.Factory.StartNew(() => CommanderSetpointThread(cancellationSource.Token), TaskCreationOptions.LongRunning);
}