MissionPlanner.Georefimage.LookForLocation C# (CSharp) Method

        private VehicleLocation LookForLocation(DateTime t, Dictionary<long, VehicleLocation> listLocations)
        {
            long time = ToMilliseconds(t);

            // Time at which the GPS position is actually search and found
            long actualTime = time; 
            int millisSTEP = 1; 

            // 2 seconds (2000 ms) in the log as absolute maximum
            int maxIteration = 2000; 

            bool found = false;
            int iteration = 0;
            VehicleLocation location = null;

            while (!found && iteration < maxIteration)
            {
                found = listLocations.ContainsKey(actualTime);
                if (found)
                {
                    location = listLocations[actualTime];
                }
                else
                {
                    actualTime += millisSTEP;
                    iteration++;
                }
            }

            /*if (location == null)
                TXT_outputlog.AppendText("Time not found in log: " + time  + "\n");
            else
                TXT_outputlog.AppendText("GPS position found " + (actualTime - time) + " ms away\n");*/

            return location;
        }