MissionPlanner.Utilities.Firmware.UploadPX4 C# (CSharp) Method

        public bool UploadPX4(string filename, BoardDetect.boards board)
        {
            Uploader up;
            updateProgress(-1, "Reading Hex File");
            px4uploader.Firmware fw;
            try
            {
                fw = px4uploader.Firmware.ProcessFirmware(filename);
            }
            catch (Exception ex)
            {
                CustomMessageBox.Show(Strings.ErrorFirmwareFile + "\n\n" + ex.ToString(), Strings.ERROR);
                return false;
            }

            try
            {
                updateProgress(-1, "Look for HeartBeat");
                // check if we are seeing heartbeats
                MainV2.comPort.BaseStream.Open();
                MainV2.comPort.giveComport = true;

                if (MainV2.comPort.getHeartBeat().Length > 0)
                {
                    updateProgress(-1, "Reboot to Bootloader");
                    MainV2.comPort.doReboot(true, false);
                    MainV2.comPort.Close();

                    //specific action for VRBRAIN4 board that needs to be manually disconnected before uploading
                    if (board == BoardDetect.boards.vrbrainv40)
                    {
                        CustomMessageBox.Show(
                            "VRBRAIN 4 detected. Please unplug the board then press OK and plug back in.\n");
                    }
                }
                else
                {
                    updateProgress(-1, "No HeartBeat found");
                    MainV2.comPort.BaseStream.Close();
                    CustomMessageBox.Show(Strings.PleaseUnplugTheBoardAnd);
                }
            }
            catch (Exception ex)
            {
                log.Error(ex);
                CustomMessageBox.Show(Strings.PleaseUnplugTheBoardAnd);
            }

            DateTime DEADLINE = DateTime.Now.AddSeconds(30);

            updateProgress(-1, "Scanning comports");

            while (DateTime.Now < DEADLINE)
            {
                string[] allports = SerialPort.GetPortNames();

                foreach (string port in allports)
                {
                    log.Info(DateTime.Now.Millisecond + " Trying Port " + port);

                    try
                    {
                        up = new Uploader(port, 115200);
                    }
                    catch (Exception ex)
                    {
                        //System.Threading.Thread.Sleep(50);
                        Console.WriteLine(ex.Message);
                        continue;
                    }

                    try
                    {
                        up.identify();
                        updateProgress(-1, "Identify");
                        log.InfoFormat("Found board type {0} boardrev {1} bl rev {2} fwmax {3} on {4}", up.board_type,
                            up.board_rev, up.bl_rev, up.fw_maxsize, port);

                        up.ProgressEvent += new Uploader.ProgressEventHandler(up_ProgressEvent);
                        up.LogEvent += new Uploader.LogEventHandler(up_LogEvent);
                    }
                    catch (Exception)
                    {
                        Console.WriteLine("Not There..");
                        //Console.WriteLine(ex.Message);
                        up.close();
                        continue;
                    }

                    updateProgress(-1, "Connecting");

                    // test if pausing here stops - System.TimeoutException: The write timed out.
                    System.Threading.Thread.Sleep(500);

                    try
                    {
                        up.currentChecksum(fw);
                    }
                    catch (IOException ex)
                    {
                        log.Error(ex);
                        CustomMessageBox.Show("lost communication with the board.", "lost comms");
                        up.close();
                        return false;
                    }
                    catch
                    {
                        up.__reboot();
                        up.close();
                        CustomMessageBox.Show(Strings.NoNeedToUpload);
                        return true;
                    }

                    try
                    {
                        updateProgress(0, "Upload");
                        up.upload(fw);
                        updateProgress(100, "Upload Done");
                    }
                    catch (Exception ex)
                    {
                        updateProgress(0, "ERROR: " + ex.Message);
                        log.Info(ex);
                        Console.WriteLine(ex.ToString());
                        return false;
                    }
                    finally
                    {
                        up.close();
                    }

                    // wait for IO firmware upgrade and boot to a mavlink state
                    CustomMessageBox.Show(Strings.PleaseWaitForTheMusicalTones);

                    return true;
                }
            }

            updateProgress(0, "ERROR: No Response from board");
            return false;
        }