read a version 110 waypoint

def _read_waypoints_v110(self, file):
        '''read a version 110 waypoint'''
        comment = ''
        for line in file:
            if line.startswith('#'):
                comment = line[1:].lstrip()
                continue
            line = line.strip()
            if not line:
                continue
            a = line.split()
            if len(a) != 12:
                raise MAVWPError("invalid waypoint line with %u values" % len(a))
            if mavutil.mavlink10():
                fn = mavutil.mavlink.MAVLink_mission_item_message
            else:
                fn = mavutil.mavlink.MAVLink_waypoint_message
            w = fn(self.target_system, self.target_component,
                   int(a[0]),    # seq
                   int(a[2]),    # frame
                   int(a[3]),    # command
                   int(a[1]),    # current
                   int(a[11]),   # autocontinue
                   float(a[4]),  # param1,
                   float(a[5]),  # param2,
                   float(a[6]),  # param3
                   float(a[7]),  # param4
                   float(a[8]),  # x (latitude)
                   float(a[9]),  # y (longitude)
                   float(a[10])  # z (altitude)
                   )
            if w.command == 0 and w.seq == 0 and self.count() == 0:
                # special handling for Mission Planner created home wp
                w.command = mavutil.mavlink.MAV_CMD_NAV_WAYPOINT
            self.add(w, comment)
            comment = ''