MissionPlanner.MAVLinkInterface.InjectGpsData C# (CSharp) Method

        public void InjectGpsData(byte sysid, byte compid, byte[] data, byte length, bool rtcm_message = true)
        {
            // new message
            if (rtcm_message)
            {
                mavlink_gps_rtcm_data_t gps = new mavlink_gps_rtcm_data_t();
                var msglen = 180;

                if (length > msglen * 4)
                    log.Error("Message too large " + length);

                // number of packets we need, not including a termination packet if needed
                var len = (length % msglen) == 0 ? length / msglen : (length / msglen) + 1;

                // flags = isfrag(1)/frag(2)/seq(5)

                for (int a = 0; a < len; a++)
                {
                    // check if its a fragment
                    if (len > 1)
                        gps.flags = 1;
                    else
                        gps.flags = 0;

                    // add fragment number
                    gps.flags += (byte)((a & 0x3) << 1);

                    // add seq number
                    gps.flags += (byte)((inject_seq_no & 0x1f) << 3);

                    // create the empty buffer
                    gps.data = new byte[msglen];

                    // calc how much data we are copying
                    int copy = Math.Min(length - a * msglen, msglen);

                    // copy the data
                    Array.Copy(data, a * msglen, gps.data, 0, copy);

                    // set the length
                    gps.len = (byte)copy;

                    generatePacket((byte) MAVLINK_MSG_ID.GPS_RTCM_DATA, gps, sysid, compid);
                }

                // packet is perfectly aligned and larger than one packet, send termination packet
                if ((length % msglen) == 0 && (length > msglen))
                {
                    gps.len = 0;
                    gps.data = new byte[msglen];
                    generatePacket((byte)MAVLINK_MSG_ID.GPS_RTCM_DATA, gps, sysid, compid);
                }

                inject_seq_no++;
            }
            else
            {
                mavlink_gps_inject_data_t gps = new mavlink_gps_inject_data_t();
                var msglen = 110;

                var len = (length%msglen) == 0 ? length/msglen : (length/msglen) + 1;

                for (int a = 0; a < len; a++)
                {
                    gps.data = new byte[msglen];

                    int copy = Math.Min(length - a*msglen, msglen);

                    Array.Copy(data, a*msglen, gps.data, 0, copy);
                    gps.len = (byte) copy;
                    gps.target_component = compid;
                    gps.target_system = sysid;

                    generatePacket((byte) MAVLINK_MSG_ID.GPS_INJECT_DATA, gps, sysid, compid);
                }
            }
        }