private static void sendData(byte[] data, byte length)
{
// if RTCM broadcast is checked - send GPS data to single broadcast adress
// else - send GPS data to every UAV
if (Instance.chk_rtcmBroadcast.Checked)
{
IPAddress IpBrd;
int portBrd;
if (IPAddress.TryParse(Instance.txt_UDPBroadcastIP.Text, out IpBrd))
{
if (int.TryParse(Instance.txt_UDPBroadcastPort.Text, out portBrd))
{
(broadcastPort.BaseStream as UdpSerial).RemoteIpEndPoint = new IPEndPoint(IpBrd, portBrd);
broadcastPort.InjectGpsData(0, 0, data, (byte)length, rtcm_msg);
}
}
}
else
{
foreach (var port in MainV2.Comports)
{
foreach (var MAV in port.MAVlist)
{
port.InjectGpsData(MAV.sysid, MAV.compid, data, (byte)length, rtcm_msg);
}
}
}
}