MissionPlanner.MAVLinkInterface.setRallyPoint C# (CSharp) Method

        public bool setRallyPoint(byte index, PointLatLngAlt plla, short break_alt, UInt16 land_dir_cd, byte flags,
            byte rallypointcount)
        {
            mavlink_rally_point_t rp = new mavlink_rally_point_t();

            rp.idx = index;
            rp.count = rallypointcount;
            rp.lat = (int) (plla.Lat*t7);
            rp.lng = (int) (plla.Lng*t7);
            rp.alt = (short) plla.Alt;
            rp.break_alt = break_alt;
            rp.land_dir = land_dir_cd;
            rp.flags = (byte) flags;
            rp.target_component = MAV.compid;
            rp.target_system = MAV.sysid;

            int retry = 3;

            while (retry > 0)
            {
                generatePacket((byte) MAVLINK_MSG_ID.RALLY_POINT, rp);
                int counttemp = 0;
                PointLatLngAlt newfp = getRallyPoint(rp.idx, ref counttemp);

                if (newfp.Lat == plla.Lat && newfp.Lng == rp.lng)
                {
                    Console.WriteLine("Rally Set");
                    return true;
                }
                retry--;
            }

            return false;
        }