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

        public bool UploadVRBRAIN(string filename, BoardDetect.boards board)
        {
            px4uploader.Uploader up;
            updateProgress(0, "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
            {
                // check if we are seeing heartbeats
                MainV2.comPort.BaseStream.Open();
                MainV2.comPort.giveComport = true;

                if (MainV2.comPort.getHeartBeat().Length > 0)
                {
                    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, and then press OK and plug back in.\n");
                    }
                }
                else
                {
                    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(0, "Scanning comports");

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

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

                    updateProgress(-1, "Connecting");

                    try
                    {
                        up = new px4uploader.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);
                    }
                    catch (Exception)
                    {
                        Console.WriteLine("Not There..");
                        //Console.WriteLine(ex.Message);
                        up.close();
                        continue;
                    }

                    up.skipotp = true;

                    try
                    {
                        up.currentChecksum(fw);
                    }
                    catch
                    {
                        up.__reboot();
                        up.close();
                        CustomMessageBox.Show(Strings.NoNeedToUpload);
                        return true;
                    }

                    try
                    {
                        up.ProgressEvent += new px4uploader.Uploader.ProgressEventHandler(up_ProgressEvent);
                        up.LogEvent += new px4uploader.Uploader.LogEventHandler(up_LogEvent);

                        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();
                    }

                    if (up.board_type == 1140 || up.board_type == 1145 || up.board_type == 1150 || up.board_type == 1151 ||
                        up.board_type == 1152 || up.board_type == 1210 || up.board_type == 1351 || up.board_type == 1352 ||
                        up.board_type == 1411 || up.board_type == 1520)
                    {
//VR boards have no tone alarm
                        if (up.board_type == 1140)
                            CustomMessageBox.Show("Upload complete! Please unplug and reconnect board.");
                        else
                            CustomMessageBox.Show("Upload complete!");
                    }
                    else
                    {
                        // 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;
        }