MissionPlanner.MagCalib.ReceviedPacket C# (CSharp) Method

        static bool ReceviedPacket(MAVLink.MAVLinkMessage rawpacket)
        {
            if (rawpacket.msgid == (byte) MAVLink.MAVLINK_MSG_ID.SCALED_IMU2)
            {
                MAVLink.mavlink_scaled_imu2_t packet = rawpacket.ToStructure<MAVLink.mavlink_scaled_imu2_t>();

                // filter dataset
                string item = (int) (packet.xmag/div) + "," +
                              (int) (packet.ymag/div) + "," +
                              (int) (packet.zmag/div);

                if (filtercompass2.ContainsKey(item))
                {
                    filtercompass2[item] = (int) filtercompass2[item] + 1;

                    if ((int) filtercompass2[item] > 3)
                        return false;
                }
                else
                {
                    filtercompass2[item] = 1;
                }

                // values - offsets are 0
                float rawmx = packet.xmag;
                float rawmy = packet.ymag;
                float rawmz = packet.zmag;

                // add data
                lock (datacompass2)
                {
                    if (rawmx == 0 || rawmy == 0 || rawmz == 0)
                        return true;

                    datacompass2.Add(new Tuple<float, float, float>(rawmx, rawmy, rawmz));
                }

                return true;
            }
            else if (rawpacket.msgid == (byte) MAVLink.MAVLINK_MSG_ID.SCALED_IMU3)
            {
                MAVLink.mavlink_scaled_imu3_t packet = rawpacket.ToStructure<MAVLink.mavlink_scaled_imu3_t>();

                // filter dataset
                string item = (int) (packet.xmag/div) + "," +
                              (int) (packet.ymag/div) + "," +
                              (int) (packet.zmag/div);

                if (filtercompass3.ContainsKey(item))
                {
                    filtercompass3[item] = (int) filtercompass3[item] + 1;

                    if ((int) filtercompass3[item] > 3)
                        return false;
                }
                else
                {
                    filtercompass3[item] = 1;
                }

                // values - offsets are 0
                float rawmx = packet.xmag;
                float rawmy = packet.ymag;
                float rawmz = packet.zmag;

                // add data
                lock (datacompass3)
                {
                    if (rawmx == 0 || rawmy == 0 || rawmz == 0)
                        return true;

                    datacompass3.Add(new Tuple<float, float, float>(rawmx, rawmy, rawmz));
                }

                return true;
            }
            else if (rawpacket.msgid == (byte) MAVLink.MAVLINK_MSG_ID.RAW_IMU)
            {
                MAVLink.mavlink_raw_imu_t packet = rawpacket.ToStructure<MAVLink.mavlink_raw_imu_t>();

                if (packet.xmag == 0 && packet.ymag == 0)
                    return false;

                // filter dataset
                string item = (int) (packet.xmag/div) + "," +
                              (int) (packet.ymag/div) + "," +
                              (int) (packet.zmag/div);

                if (filtercompass1.ContainsKey(item))
                {
                    filtercompass1[item] = (int) filtercompass1[item] + 1;

                    if ((int) filtercompass1[item] > 3)
                        return false;
                }
                else
                {
                    filtercompass1[item] = 1;
                }

                // values
                float rawmx = packet.xmag - (float) MainV2.comPort.MAV.cs.mag_ofs_x;
                float rawmy = packet.ymag - (float) MainV2.comPort.MAV.cs.mag_ofs_y;
                float rawmz = packet.zmag - (float) MainV2.comPort.MAV.cs.mag_ofs_z;

                // add data
                lock (datacompass1)
                {
                    datacompass1.Add(new Tuple<float, float, float>(rawmx, rawmy, rawmz));
                }

                return true;
            }

            return true;
        }