From 9405b6f1fe2c736acac296600bfd89d73973a245 Mon Sep 17 00:00:00 2001
From: TobiasSimon <tobias.simon@tu-ilmenau.de>
Date: Sat, 18 Feb 2012 13:21:01 +0100
Subject: [PATCH] fixed out-of-order bug in packet loss calculation

---
 src/comm/MAVLinkProtocol.cc | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc
index 77f309f8e..d3924cf81 100644
--- a/src/comm/MAVLinkProtocol.cc
+++ b/src/comm/MAVLinkProtocol.cc
@@ -370,7 +370,8 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
 					int16_t lostMessages = message.seq - expectedIndex;
 					if (lostMessages < 0)
 					{
-						lostMessages += 256;
+                  // Usually, this happens in the case of an out-of order packet
+						lostMessages = 0;
 					}
 					qDebug() << QString("Lost %1 messages: expected sequence ID %2 but received %3.").arg(lostMessages).arg(expectedIndex).arg(message.seq);
 					
-- 
2.22.0