MissionPlanner.MAVLinkInterface.getRallyPoint C# (CSharp) Method

        public PointLatLngAlt getRallyPoint(int no, ref int total)
        {
            MAVLinkMessage buffer;

            giveComport = true;

            PointLatLngAlt plla = new PointLatLngAlt();
            mavlink_rally_fetch_point_t req = new mavlink_rally_fetch_point_t();

            req.idx = (byte) no;
            req.target_component = MAV.compid;
            req.target_system = MAV.sysid;

            // request point
            generatePacket((byte) MAVLINK_MSG_ID.RALLY_FETCH_POINT, req);

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

            while (true)
            {
                if (!(start.AddMilliseconds(700) > DateTime.Now))
                {
                    if (retrys > 0)
                    {
                        log.Info("getRallyPoint Retry " + retrys + " - giv com " + giveComport);
                        generatePacket((byte) MAVLINK_MSG_ID.FENCE_FETCH_POINT, req);
                        start = DateTime.Now;
                        retrys--;
                        continue;
                    }
                    giveComport = false;
                    throw new TimeoutException("Timeout on read - getRallyPoint");
                }

                buffer = readPacket();
                if (buffer.Length > 5)
                {
                    if (buffer.msgid == (byte) MAVLINK_MSG_ID.RALLY_POINT)
                    {
                        mavlink_rally_point_t fp = buffer.ToStructure<mavlink_rally_point_t>();

                        if (req.idx != fp.idx)
                        {
                            generatePacket((byte) MAVLINK_MSG_ID.FENCE_FETCH_POINT, req);
                            continue;
                        }

                        plla.Lat = fp.lat/t7;
                        plla.Lng = fp.lng/t7;
                        plla.Tag = fp.idx.ToString();
                        plla.Alt = fp.alt;

                        total = fp.count;

                        giveComport = false;

                        return plla;
                    }
                }
            }
        }