MissionPlanner.SerialOutputNMEA.mainloop C# (CSharp) Method

        void mainloop()
        {
            threadrun = true;
            comPort.NewLine = "\r\n";
            int counter = 0;
            while (threadrun)
            {
                try
                {
                    double lat = (int) MainV2.comPort.MAV.cs.lat +
                                 ((MainV2.comPort.MAV.cs.lat - (int) MainV2.comPort.MAV.cs.lat)*.6f);
                    double lng = (int) MainV2.comPort.MAV.cs.lng +
                                 ((MainV2.comPort.MAV.cs.lng - (int) MainV2.comPort.MAV.cs.lng)*.6f);
                    string line = string.Format(System.Globalization.CultureInfo.InvariantCulture,
                        "$GP{0},{1:HHmmss.fff},{2},{3},{4},{5},{6},{7},{8},{9},{10},{11},{12},{13},", "GGA",
                        DateTime.Now.ToUniversalTime(), Math.Abs(lat*100).ToString("0.00000"), MainV2.comPort.MAV.cs.lat < 0 ? "S" : "N",
                        Math.Abs(lng*100).ToString("0.00000"), MainV2.comPort.MAV.cs.lng < 0 ? "W" : "E",
                        MainV2.comPort.MAV.cs.gpsstatus >= 3 ? 1 : 0, MainV2.comPort.MAV.cs.satcount,
                        MainV2.comPort.MAV.cs.gpshdop, MainV2.comPort.MAV.cs.altasl, "M", 0, "M", "");

                    string checksum = GetChecksum(line);
                    comPort.WriteLine(line + "*" + checksum);

                    line = string.Format(System.Globalization.CultureInfo.InvariantCulture,
                        "$GP{0},{1:HHmmss.fff},{2},{3},{4},{5},{6},{7},{8},{9:ddMMyy},{10},", "RMC",
                        DateTime.Now.ToUniversalTime(), "A", Math.Abs(lat*100).ToString("0.00000"),
                        MainV2.comPort.MAV.cs.lat < 0 ? "S" : "N", Math.Abs(lng*100).ToString("0.00000"),
                        MainV2.comPort.MAV.cs.lng < 0 ? "W" : "E", (MainV2.comPort.MAV.cs.groundspeed*1.943844).ToString("0.0"),
                        MainV2.comPort.MAV.cs.groundcourse.ToString("0.0"), DateTime.Now, 0);

                    checksum = GetChecksum(line);
                    comPort.WriteLine(line + "*" + checksum);

                    if (counter%20 == 0 && HomeLoc.Lat != 0 && HomeLoc.Lng != 0)
                    {
                        line = string.Format(System.Globalization.CultureInfo.InvariantCulture,
                            "$GP{0},{1:HHmmss.fff},{2},{3},{4},{5},{6},{7},", "HOM", DateTime.Now.ToUniversalTime(),
                            Math.Abs(HomeLoc.Lat*100).ToString("0.00000"), HomeLoc.Lat < 0 ? "S" : "N", Math.Abs(HomeLoc.Lng*100).ToString("0.00000"),
                            HomeLoc.Lng < 0 ? "W" : "E", HomeLoc.Alt, "M");

                        checksum = GetChecksum(line);
                        comPort.WriteLine(line + "*" + checksum);
                    }

                    line = string.Format(System.Globalization.CultureInfo.InvariantCulture, "$GP{0},{1},{2},{3},", "RPY",
                        MainV2.comPort.MAV.cs.roll.ToString("0.00000"), MainV2.comPort.MAV.cs.pitch.ToString("0.00000"), MainV2.comPort.MAV.cs.yaw.ToString("0.00000"));

                    checksum = GetChecksum(line);
                    comPort.WriteLine(line + "*" + checksum);

                    System.Threading.Thread.Sleep(200);
                    counter++;
                }
                catch
                {
                }
            }
        }