public static int GetRollTime(MainForm mainForm,
string droneName,
int power,
double meter)
{
CalibrationInfo cInfo = CalibrationList.GetCalibrationData(mainForm, droneName);
MoveCalibrationInfo mcInfo = cInfo.GetMoveInfo(power);
if (mcInfo == null)
{
mainForm.ShowMessageBox("Power " + power + " data doesn't exist.");
return(-1);
}
float[] times = Array.ConvertAll(mcInfo.GetTimes(), x => (float)x); // x
float[] meters = new float[times.Length]; // y
for (int i = 0; i < meters.Length; i++)
{
if (power > 0)
{
meters[i] = (float)mcInfo.GetRightMeter((int)times[i]);
}
else
{
meters[i] = (float)mcInfo.GetLeftMeter((int)times[i]);
}
}
if (meters.Min() > meter || meters.Max() < meter)
{
mainForm.ShowMessageBox("Meter " + meter + " is out of data range.");
return(-1);
}
float[] timeResult = CubicSpline.Compute(meters, times, new float[] { (float)meter });
return((int)timeResult[0]);
}