My instructor also mentioned that if you think you're getting to the end of your magazine, and there's a lull in the fight, perform a speed reload. You'll be out of the fight for a shorter amount of time than with the other types of reloads, and if you have time, you can pick your dropped mag off the ground.
That's what I was taught. And what I teach today. One style of reload. One muscle memory. One less higher brain thinking. Brain stem operations.
Use the lull to pick up your partial magazine.