MissionPlanner.MAVLinkInterface.setWP C# (CSharp) Method

        public MAV_MISSION_RESULT setWP(Locationwp loc, ushort index, MAV_FRAME frame, byte current = 0,
            byte autocontinue = 1, bool use_int = false)
        {
            if (use_int)
            {
                mavlink_mission_item_int_t req = new mavlink_mission_item_int_t();

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

                req.command = loc.id;

                req.current = current;
                req.autocontinue = autocontinue;

                req.frame = (byte) frame;
                if (loc.id == (ushort)MAV_CMD.DO_DIGICAM_CONTROL || loc.id == (ushort)MAV_CMD.DO_DIGICAM_CONFIGURE)
                {
                    req.y = (int)(loc.lng);
                    req.x = (int)(loc.lat);
                }
                else
                {
                    req.y = (int)(loc.lng * 1.0e7);
                    req.x = (int)(loc.lat * 1.0e7);
                }
                req.z = (float) (loc.alt);

                req.param1 = loc.p1;
                req.param2 = loc.p2;
                req.param3 = loc.p3;
                req.param4 = loc.p4;

                req.seq = index;

                return setWP(req);
            }
            else
            {
                mavlink_mission_item_t req = new mavlink_mission_item_t();

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

                req.command = loc.id;

                req.current = current;
                req.autocontinue = autocontinue;

                req.frame = (byte)frame;
                req.y = (float)(loc.lng);
                req.x = (float)(loc.lat);
                req.z = (float)(loc.alt);

                req.param1 = loc.p1;
                req.param2 = loc.p2;
                req.param3 = loc.p3;
                req.param4 = loc.p4;

                req.seq = index;

                return setWP(req);
            }
        }