MissionPlanner.MAVLinkInterface.setParam C# (CSharp) Method

        public bool setParam(byte sysid, byte compid, string paramname, double value, bool force = false)
        {
            if (!MAVlist[sysid,compid].param.ContainsKey(paramname))
            {
                log.Warn("Trying to set Param that doesnt exist " + paramname + "=" + value);
                return false;
            }

            if (MAVlist[sysid, compid].param[paramname].Value == value && !force)
            {
                log.Warn("setParam " + paramname + " not modified as same");
                return true;
            }

            giveComport = true;

            // param type is set here, however it is always sent over the air as a float 100int = 100f.
            var req = new mavlink_param_set_t
            {
                target_system = sysid,
                target_component = compid,
                param_type = (byte)MAVlist[sysid, compid].param_types[paramname]
            };

            byte[] temp = Encoding.ASCII.GetBytes(paramname);

            Array.Resize(ref temp, 16);
            req.param_id = temp;
            if (MAVlist[sysid, compid].apname == MAV_AUTOPILOT.ARDUPILOTMEGA)
            {
                req.param_value = new MAVLinkParam(paramname, value, (MAV_PARAM_TYPE.REAL32)).float_value;
            }
            else
            {
                req.param_value = new MAVLinkParam(paramname, value, (MAV_PARAM_TYPE)MAVlist[sysid, compid].param_types[paramname]).float_value;
            }

            int currentparamcount = MAVlist[sysid, compid].param.Count;

            generatePacket((byte) MAVLINK_MSG_ID.PARAM_SET, req, sysid, compid);

            log.InfoFormat("setParam '{0}' = '{1}' sysid {2} compid {3}", paramname, value, sysid,
                compid);

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

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

                MAVLinkMessage buffer = readPacket();
                if (buffer.Length > 5)
                {
                    if (buffer.msgid == (byte) MAVLINK_MSG_ID.PARAM_VALUE)
                    {
                        mavlink_param_value_t par = buffer.ToStructure<mavlink_param_value_t>();

                        string st = System.Text.ASCIIEncoding.ASCII.GetString(par.param_id);

                        int pos = st.IndexOf('\0');

                        if (pos != -1)
                        {
                            st = st.Substring(0, pos);
                        }

                        if (st != paramname)
                        {
                            log.InfoFormat("MAVLINK bad param response - {0} vs {1}", paramname, st);
                            continue;
                        }

                        if (MAVlist[sysid, compid].apname == MAV_AUTOPILOT.ARDUPILOTMEGA)
                        {
                            var offset = Marshal.OffsetOf(typeof(mavlink_param_value_t), "param_value");
                            MAVlist[sysid, compid].param[st] = new MAVLinkParam(st, BitConverter.GetBytes(Marshal.ReadInt32(par, offset.ToInt32())), MAV_PARAM_TYPE.REAL32, (MAV_PARAM_TYPE) par.param_type);
                        }
                        else
                        {
                            var offset = Marshal.OffsetOf(typeof(mavlink_param_value_t), "param_value");
                            MAVlist[sysid, compid].param[st] = new MAVLinkParam(st, BitConverter.GetBytes(Marshal.ReadInt32(par, offset.ToInt32())), (MAV_PARAM_TYPE)par.param_type, (MAV_PARAM_TYPE)par.param_type);
                        }

                        log.Info("setParam gotback " + st + " : " + MAVlist[sysid, compid].param[st]);

                        lastparamset = DateTime.Now;

                        giveComport = false;
                        //System.Threading.Thread.Sleep(100);//(int)(8.5 * 5)); // 8.5ms per byte

                        // check if enabeling this param has added subparams, queue on gui thread
                        if (currentparamcount < par.param_count)
                        {
                            MainV2.instance.BeginInvoke((Action) delegate
                            {
                                Loading.ShowLoading(String.Format(Strings.ParamRefreshRequired, currentparamcount,
                                    par.param_count));
                            });
                        }

                        return true;
                    }
                }
            }
        }