From 8d3e1779dd1a6efa29541ed821e26a503b613673 Mon Sep 17 00:00:00 2001
From: Bryant Mairs <bwmairs@gmail.com>
Date: Sun, 15 Jun 2014 14:13:39 -0700
Subject: [PATCH] Replaced expensive modulus operation with bitwise-and.

---
 src/comm/MAVLinkProtocol.cc | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc
index 3ff291b5a..66ba6dc3a 100644
--- a/src/comm/MAVLinkProtocol.cc
+++ b/src/comm/MAVLinkProtocol.cc
@@ -503,7 +503,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
                 lastIndex[message.sysid][message.compid] = expectedSeq;
 
                 // Update on every 32th packet
-                if (totalReceiveCounter[linkId] % 32 == 0)
+                if ((totalReceiveCounter[linkId] & 0x1F) == 0)
                 {
                     // Calculate new loss ratio
                     // Receive loss
-- 
2.22.0