MissionPlanner.MAVLinkInterface.setWPCurrent C# (CSharp) Method

        public bool setWPCurrent(ushort index)
        {
            giveComport = true;
            MAVLinkMessage buffer;

            mavlink_mission_set_current_t req = new mavlink_mission_set_current_t();

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

            generatePacket((byte) MAVLINK_MSG_ID.MISSION_SET_CURRENT, req);

            DateTime start = DateTime.Now;
            int retrys = 5;

            while (true)
            {
                if (!(start.AddMilliseconds(2000) > DateTime.Now))
                {
                    if (retrys > 0)
                    {
                        log.Info("setWPCurrent Retry " + retrys);
                        generatePacket((byte) MAVLINK_MSG_ID.MISSION_SET_CURRENT, req);
                        start = DateTime.Now;
                        retrys--;
                        continue;
                    }
                    giveComport = false;
                    throw new TimeoutException("Timeout on read - setWPCurrent");
                }

                buffer = readPacket();
                if (buffer.Length > 5)
                {
                    if (buffer.msgid == (byte) MAVLINK_MSG_ID.MISSION_CURRENT)
                    {
                        giveComport = false;
                        return true;
                    }
                }
            }
        }