MissionPlanner.MAVLinkInterface.PacketReceived C# (CSharp) Method

        private void PacketReceived(MAVLinkMessage buffer)
        {
            MAVLINK_MSG_ID type = (MAVLINK_MSG_ID) buffer.msgid;

            lock (Subscriptions)
            {
                foreach (var item in Subscriptions.ToArray())
                {
                    if (item.Key == type)
                    {
                        try
                        {
                            item.Value(buffer);
                        }
                        catch (Exception ex)
                        {
                            log.Error(ex);
                        }
                    }
                }
            }
        }