MissionPlanner.MAVLinkInterface.getVersion C# (CSharp) Method

        public bool getVersion()
        {
            MAVLink.mavlink_autopilot_version_request_t req = new mavlink_autopilot_version_request_t();

            req.target_component = MAV.compid;
            req.target_system = MAV.sysid;

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

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

            while (true)
            {
                if (!(start.AddMilliseconds(200) > DateTime.Now))
                {
                    if (retrys > 0)
                    {
                        log.Info("getVersion Retry " + retrys + " - giv com " + giveComport);
                        generatePacket((byte) MAVLINK_MSG_ID.AUTOPILOT_VERSION_REQUEST, req);
                        start = DateTime.Now;
                        retrys--;
                        continue;
                    }
                    giveComport = false;
                    return false;
                }

                MAVLinkMessage buffer = readPacket();
                if (buffer.Length > 5)
                {
                    if (buffer.msgid == (byte) MAVLINK_MSG_ID.AUTOPILOT_VERSION)
                    {
                        giveComport = false;

                        return true;
                    }
                }
            }
        }