ArdupilotMega.ArduinoSTK.connectAP C# (CSharp) Метод

        public bool connectAP()
        {
            if (!this.IsOpen)
            {
                return false;
            }
            int a = 0;
            while (a < 50)
            {
                this.DiscardInBuffer();
                this.Write(new byte[] { (byte)'0', (byte)' ' }, 0, 2);
                a++;
                Thread.Sleep(50);

                Console.WriteLine("btr {0}", this.BytesToRead);
                if (this.BytesToRead >= 2)
                {
                    byte b1 = (byte)this.ReadByte();
                    byte b2 = (byte)this.ReadByte();
                    if (b1 == 0x14 && b2 == 0x10)
                    {
                        return true;
                    }
                }
            }

            return false;
        }

        private void WriteCharsetVersion(string version)
        {
            byte[] tempEeprom = new byte[3];
            tempEeprom[0] = (byte)version[0];
            tempEeprom[1] = (byte)version[1];
            tempEeprom[2] = (byte)version[2];
            //Set Com port
            ArduinoSTK sp;
            try
            {
                if (comPort.IsOpen)
                    comPort.Close();

                sp = new ArduinoSTK();
                sp.PortName = CMB_ComPort.Text;
                sp.BaudRate = 57600;
                sp.DataBits = 8;
                sp.StopBits = StopBits.One;
                sp.Parity = Parity.None;
                sp.DtrEnable = false;
                sp.RtsEnable = false; //added

                sp.Open();
            }
            catch { MessageBox.Show("Error opening com port", "Error", MessageBoxButtons.OK, MessageBoxIcon.Error); return; }

            if (sp.connectAP())
            {
                try
                {
                    bool spupload_flag = false;
                        for (int i = 0; i < 10; i++)
                        { //try to upload two times if it fail
                            spupload_flag = sp.upload(tempEeprom, (short)0, (short)tempEeprom.Length, (short)CS_VERSION1_ADDR);
                            if (!spupload_flag)
                            {
                                if (sp.keepalive()) Console.WriteLine("keepalive successful (iter " + i + ")");
                                else Console.WriteLine("keepalive fail (iter " + i + ")");
                            }
                            else break;
                        }
                        if (spupload_flag) MessageBox.Show("Done writing configuration data!");
                        else MessageBox.Show("Failed to upload new configuration data");
                }
                catch (Exception ex)
                {
                    MessageBox.Show(ex.Message);
                }
            }
            else
            {
                MessageBox.Show("Failed to talk to bootloader");
            }

            sp.Close();
        }