MissionPlanner.GridUIv2.BUT_Accept_Click C# (CSharp) Method

        private void BUT_Accept_Click(object sender, EventArgs e)
        {
            if (grid != null && grid.Count > 0)
            {
                MainV2.instance.FlightPlanner.quickadd = true;

                if (CHK_includetakeoff.Checked)
                {
                    if (plugin.Host.cs.firmware == MainV2.Firmwares.ArduCopter2)
                    {
                        plugin.Host.AddWPtoList(MAVLink.MAV_CMD.TAKEOFF, 0, 0, 0, 0, 0, 0, 30);
                    }
                    else
                    {
                        plugin.Host.AddWPtoList(MAVLink.MAV_CMD.TAKEOFF, 20, 0, 0, 0, 0, 0, 30);
                    }
                }

                plugin.Host.AddWPtoList(MAVLink.MAV_CMD.DO_SET_CAM_TRIGG_DIST, (float)NUM_spacing, 0, 0, 0, 0, 0, 0);

                grid.ForEach(plla =>
                {
                    // skip internals
                    if (plla.Tag == "M")
                    {

                    }
                    else
                    {
                        plugin.Host.AddWPtoList(MAVLink.MAV_CMD.WAYPOINT, 0, 0, 0, 0, plla.Lng, plla.Lat, plla.Alt);
                    }
                });

                    plugin.Host.AddWPtoList(MAVLink.MAV_CMD.DO_SET_CAM_TRIGG_DIST, 0, 0, 0, 0, 0, 0, 0);

                if (chk_includeland.Checked)
                {
                    plugin.Host.AddWPtoList(MAVLink.MAV_CMD.LAND, 0, 0, 0, 0, plugin.Host.cs.HomeLocation.Lng,plugin.Host.cs.HomeLocation.Lat, 0);
                }

                savesettings();

                MainV2.instance.FlightPlanner.quickadd = false;

                MainV2.instance.FlightPlanner.writeKML();

                this.Close();
            }
            else
            {
                CustomMessageBox.Show("Bad Grid", "Error");
            }
        }