diff --git a/husarion_ugv_utils/include/husarion_ugv_utils/moving_average.hpp b/husarion_ugv_utils/include/husarion_ugv_utils/moving_average.hpp
index 311f214d..fc1d6b4f 100644
--- a/husarion_ugv_utils/include/husarion_ugv_utils/moving_average.hpp
+++ b/husarion_ugv_utils/include/husarion_ugv_utils/moving_average.hpp
@@ -16,6 +16,7 @@
 #define HUSARION_UGV_UTILS_MOVING_AVERAGE_HPP_
 
 #include <deque>
+#include <numeric>
 
 namespace husarion_ugv_utils
 {
@@ -49,13 +50,10 @@ class MovingAverage
       return initial_value_;
     }
 
-    T sum = T(0);
+    T sum = std::accumulate(buffer_.begin(), buffer_.end(), T(0));
+    T average = sum / static_cast<T>(buffer_.size());
 
-    for (const auto & value : buffer_) {
-      sum += value / static_cast<T>(buffer_.size());
-    }
-
-    return sum;
+    return average;
   }
 
 private:
diff --git a/husarion_ugv_utils/test/test_moving_average.cpp b/husarion_ugv_utils/test/test_moving_average.cpp
index 9c759980..2934f28e 100644
--- a/husarion_ugv_utils/test/test_moving_average.cpp
+++ b/husarion_ugv_utils/test/test_moving_average.cpp
@@ -59,15 +59,16 @@ TEST(TestMovingAverage, TestHighOverload)
   const std::size_t window_len = 1000;
   husarion_ugv_utils::MovingAverage<double> ma(window_len);
 
-  double avg = 0.0;
+  double sum = 0.0;
   for (std::size_t i = 1; i <= window_len * 10; i++) {
-    avg += double(i) / double(window_len);
+    sum += double(i);
     ma.Roll(double(i));
 
     // test every 1000 rolls expected average
     if (i % window_len == 0) {
-      ASSERT_NEAR(avg, ma.GetAverage(), std::numeric_limits<double>::epsilon());
-      avg = 0.0;
+      ASSERT_NEAR(
+        sum / double(window_len), ma.GetAverage(), std::numeric_limits<double>::epsilon());
+      sum = 0.0;
     }
   }
 }