MissionPlanner.MAVLinkInterface.getHomePosition C# (CSharp) Method

        public Locationwp getHomePosition()
        {
            doCommand(MAV_CMD.GET_HOME_POSITION, 0, 0, 0, 0, 0, 0, 0, false);

            giveComport = true;
            MAVLinkMessage buffer;

            DateTime start = DateTime.Now;
            int retrys = 3;

            while (true)
            {
                if (!(start.AddMilliseconds(700) > DateTime.Now))
                {
                    if (retrys > 0)
                    {
                        log.Info("getHomePosition Retry " + retrys + " - giv com " + giveComport);
                        doCommand(MAV_CMD.GET_HOME_POSITION, 0, 0, 0, 0, 0, 0, 0, false);
                        giveComport = true;
                        start = DateTime.Now;
                        retrys--;
                        continue;
                    }
                    giveComport = false;
                    //return (byte)int.Parse(param["WP_TOTAL"].ToString());
                    throw new TimeoutException("Timeout on read - getHomePosition");
                }

                buffer = readPacket();
                if (buffer.Length > 5)
                {
                    if (buffer.msgid == (byte)MAVLINK_MSG_ID.HOME_POSITION)
                    {
                        var home = buffer.ToStructure<mavlink_home_position_t>();

                        var loc = new Locationwp().Set(home.latitude / 1.0e7, home.longitude / 1.0e7, home.altitude / 1000.0, (byte)MAV_CMD.WAYPOINT);

                        giveComport = false;
                        return loc; // should be ushort, but apm has limited wp count < byte
                    }
                }
                else
                {
                    log.Info(DateTime.Now + " PC getHomePosition ");
                }
            }
        }