MissionPlanner.MAVLinkInterface.setFencePoint C# (CSharp) Method

        public bool setFencePoint(byte index, PointLatLngAlt plla, byte fencepointcount)
        {
            mavlink_fence_point_t fp = new mavlink_fence_point_t();

            fp.idx = index;
            fp.count = fencepointcount;
            fp.lat = (float) plla.Lat;
            fp.lng = (float) plla.Lng;
            fp.target_component = MAV.compid;
            fp.target_system = MAV.sysid;

            int retry = 3;

            PointLatLngAlt newfp;

            while (retry > 0)
            {
                generatePacket((byte) MAVLINK_MSG_ID.FENCE_POINT, fp);
                int counttemp = 0;
                newfp = getFencePoint(fp.idx, ref counttemp);

                if (newfp.GetDistance(plla) < 5)
                    return true;
                retry--;
            }

            throw new Exception("Could not verify GeoFence Point");
        }