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); } } } }