MissionPlanner.MAVLinkInterface.getHeartBeat C# (CSharp) Method

        public MAVLinkMessage getHeartBeat()
        {
            giveComport = true;
            DateTime start = DateTime.Now;
            int readcount = 0;
            while (true)
            {
                MAVLinkMessage buffer = readPacket();
                readcount++;
                if (buffer.Length > 5)
                {
                    //log.Info("getHB packet received: " + buffer.Length + " btr " + BaseStream.BytesToRead + " type " + buffer.msgid );
                    if (buffer.msgid == (byte) MAVLINK_MSG_ID.HEARTBEAT)
                    {
                        mavlink_heartbeat_t hb = buffer.ToStructure<mavlink_heartbeat_t>();

                        if (hb.type != (byte) MAVLink.MAV_TYPE.GCS)
                        {
                            SetupMavConnect(buffer, hb);

                            giveComport = false;
                            return buffer;
                        }
                    }
                }
                if (DateTime.Now > start.AddMilliseconds(2200) || readcount > 200) // was 1200 , now 2.2 sec
                {
                    giveComport = false;
                    return MAVLinkMessage.Invalid;
                }
            }
        }

        private void but_droneapi_Click(object sender, EventArgs e)
        {
            string droneshareusername = MainV2.getConfig("droneshareusername");

            InputBox.Show("Username", "Username", ref droneshareusername);

            MainV2.config["droneshareusername"] = droneshareusername;

            string dronesharepassword = MainV2.getConfig("dronesharepassword");

            if (dronesharepassword != "")
            {
                try
                {
                    // fail on bad entry
                    var crypto = new Crypto();
                    dronesharepassword = crypto.DecryptString(dronesharepassword);
                }
                catch
                {
                }
            }

            InputBox.Show("Password", "Password", ref dronesharepassword, true);

            var crypto2 = new Crypto();

            string encryptedpw = crypto2.EncryptString(dronesharepassword);

            MainV2.config["dronesharepassword"] = encryptedpw;

            DroneProto dp = new DroneProto();

            if (dp.connect())
            {
                if (dp.loginUser(droneshareusername, dronesharepassword))
                {
                    MAVLinkInterface mine = new MAVLinkInterface();
                    var comfile = new CommsFile();
                    mine.BaseStream = comfile;
                    mine.BaseStream.PortName = @"C:\Users\hog\Documents\apm logs\iris 6-4-14\2014-04-06 09-07-32.tlog";
                    mine.BaseStream.Open();

                    comfile.bps = 4000;

                    mine.getHeartBeat();

                    dp.setVechileId(mine.MAV.Guid, 0, mine.MAV.sysid);

                    dp.startMission();

                    while (true)
                    {
                        byte[] packet = mine.readPacket();

                        dp.SendMavlink(packet, 0);
                    }

                    // dp.close();

                    // mine.Close();
                }
            }
        }