Replaced expensive modulus operation with bitwise-and.

11 years ago · 8d3e1779dd
1 changed files with 1 additions and 1 deletions
--- a/src/comm/MAVLinkProtocol.cc
+++ b/src/comm/MAVLinkProtocol.cc
@ -503,7 +503,7 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
				@@ -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