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clang-tidy readability-simplify-boolean-expr

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This commit is contained in:
Daniel Agar
2017-04-23 18:00:57 -04:00
parent 3c06641897
commit 64ed96d81a
12 changed files with 36 additions and 95 deletions
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7
src/lib/terrain_estimation/terrain_estimator.cpp
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@@ -54,12 +54,7 @@ TerrainEstimator::TerrainEstimator() :
bool TerrainEstimator::is_distance_valid(float distance)
{
if (distance > 40.0f || distance < 0.00001f) {
return false;
} else {
return true;
}
return (distance < 40.0f && distance > 0.00001f);
}
void TerrainEstimator::predict(float dt, const struct vehicle_attitude_s *attitude,

7
src/modules/commander/state_machine_helper.cpp
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@@ -351,12 +351,7 @@ bool is_safe(const struct safety_s *safety, const struct actuator_armed_s *armed
// 3) Safety switch is present AND engaged -> actuators locked
const bool lockdown = (armed->lockdown || armed->manual_lockdown);
if (!armed->armed || (armed->armed && lockdown) || (safety->safety_switch_available && !safety->safety_off)) {
return true;
} else {
return false;
}
return !armed->armed || (armed->armed && lockdown) || (safety->safety_switch_available && !safety->safety_off);
}
transition_result_t

24
src/modules/ekf2_replay/ekf2_replay_main.cpp
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@@ -532,20 +532,16 @@ void Ekf2Replay::writeMessage(int &fd, void *data, size_t size)
bool Ekf2Replay::needToSaveMessage(uint8_t type)
{
if (type == LOG_ATT_MSG ||
type == LOG_LPOS_MSG ||
type == LOG_EST0_MSG ||
type == LOG_EST1_MSG ||
type == LOG_EST2_MSG ||
type == LOG_EST3_MSG ||
type == LOG_EST4_MSG ||
type == LOG_EST5_MSG ||
type == LOG_EST6_MSG ||
type == LOG_CTS_MSG) {
return false;
}
return true;
return !(type == LOG_ATT_MSG ||
type == LOG_LPOS_MSG ||
type == LOG_EST0_MSG ||
type == LOG_EST1_MSG ||
type == LOG_EST2_MSG ||
type == LOG_EST3_MSG ||
type == LOG_EST4_MSG ||
type == LOG_EST5_MSG ||
type == LOG_EST6_MSG ||
type == LOG_CTS_MSG);
}
// update all estimator topics and write them to log file

9
src/modules/fw_att_control/fw_att_control_main.cpp
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@@ -880,14 +880,7 @@ FixedwingAttitudeControl::task_main()
_att_sp.fw_control_yaw = _att_sp.fw_control_yaw && _vcontrol_mode.flag_control_auto_enabled;
/* lock integrator until control is started */
bool lock_integrator;
if (_vcontrol_mode.flag_control_rates_enabled && !_vehicle_status.is_rotary_wing) {
lock_integrator = false;
} else {
lock_integrator = true;
}
bool lock_integrator = !(_vcontrol_mode.flag_control_rates_enabled && !_vehicle_status.is_rotary_wing);
/* Simple handling of failsafe: deploy parachute if failsafe is on */
if (_vcontrol_mode.flag_control_termination_enabled) {

9
src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
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@@ -1058,13 +1058,8 @@ FixedwingPositionControl::in_takeoff_situation()
// in air for < 10s
const hrt_abstime delta_takeoff = 10000000;
if (hrt_elapsed_time(&_time_went_in_air) < delta_takeoff
&& _global_pos.alt <= _takeoff_ground_alt + _parameters.climbout_diff) {
return true;
}
return false;
return hrt_elapsed_time(&_time_went_in_air) < delta_takeoff
&& _global_pos.alt <= _takeoff_ground_alt + _parameters.climbout_diff;
}
void

14
src/modules/land_detector/FixedwingLandDetector.cpp
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@@ -142,16 +142,10 @@ bool FixedwingLandDetector::_get_landed_state()
_accel_horz_lp = _accel_horz_lp * 0.8f + _controlState.horz_acc_mag * 0.18f;
// crude land detector for fixedwing
if (_velocity_xy_filtered < _params.maxVelocity
&& _velocity_z_filtered < _params.maxClimbRate
&& _airspeed_filtered < _params.maxAirSpeed
&& _accel_horz_lp < _params.maxIntVelocity) {
landDetected = true;
} else {
landDetected = false;
}
landDetected = _velocity_xy_filtered < _params.maxVelocity
&& _velocity_z_filtered < _params.maxClimbRate
&& _airspeed_filtered < _params.maxAirSpeed
&& _accel_horz_lp < _params.maxIntVelocity;
} else {
// Control state topic has timed out and we need to assume we're landed.

16
src/modules/land_detector/MulticopterLandDetector.cpp
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@@ -186,12 +186,7 @@ bool MulticopterLandDetector::_get_ground_contact_state()
// If pilots commands down or in auto mode and we are already below minimal thrust and we do not move down we assume ground contact
// TODO: we need an accelerometer based check for vertical movement for flying without GPS
if (manual_control_idle_or_auto && _has_minimal_thrust() &&
(!verticalMovement || !_has_altitude_lock())) {
return true;
}
return false;
return manual_control_idle_or_auto && _has_minimal_thrust() && (!verticalMovement || !_has_altitude_lock());
}
bool MulticopterLandDetector::_get_landed_state()
@@ -231,14 +226,7 @@ bool MulticopterLandDetector::_get_landed_state()
// if this persists for 8 seconds AND the drone is not
// falling consider it to be landed. This should even sustain
// quite acrobatic flight.
if ((_min_trust_start > 0) &&
(hrt_elapsed_time(&_min_trust_start) > 8000000)) {
return true;
} else {
return false;
}
return (_min_trust_start > 0) && (hrt_elapsed_time(&_min_trust_start) > 8000000);
}
float armThresholdFactor = 1.0f;

6
src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
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@@ -563,11 +563,7 @@ bool BlockLocalPositionEstimator::landed()
bool disarmed_not_falling = (!_sub_armed.get().armed) && (!_sub_land.get().freefall);
if (!(_sub_land.get().landed || disarmed_not_falling)) {
return false;
}
return true;
return _sub_land.get().landed || disarmed_not_falling;
}
void BlockLocalPositionEstimator::publishLocalPos()

6
src/modules/mavlink/mavlink_mission.cpp
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@@ -948,7 +948,7 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
mission_item->nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
mission_item->time_inside = mavlink_mission_item->param1;
mission_item->loiter_radius = mavlink_mission_item->param3;
mission_item->loiter_exit_xtrack = (mavlink_mission_item->param4 > 0) ? true : false;
mission_item->loiter_exit_xtrack = (mavlink_mission_item->param4 > 0);
break;
case MAV_CMD_NAV_LAND:
@@ -965,9 +965,9 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
case MAV_CMD_NAV_LOITER_TO_ALT:
mission_item->nav_cmd = NAV_CMD_LOITER_TO_ALT;
mission_item->force_heading = (mavlink_mission_item->param1 > 0) ? true : false;
mission_item->force_heading = (mavlink_mission_item->param1 > 0);
mission_item->loiter_radius = mavlink_mission_item->param2;
mission_item->loiter_exit_xtrack = (mavlink_mission_item->param4 > 0) ? true : false;
mission_item->loiter_exit_xtrack = (mavlink_mission_item->param4 > 0);
break;
case MAV_CMD_NAV_VTOL_TAKEOFF:

22
src/modules/navigator/mission_block.cpp
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@@ -498,20 +498,14 @@ MissionBlock::get_time_inside(const struct mission_item_s &item)
bool
MissionBlock::item_contains_position(const struct mission_item_s *item)
{
if (item->nav_cmd == NAV_CMD_WAYPOINT ||
item->nav_cmd == NAV_CMD_LOITER_UNLIMITED ||
item->nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
item->nav_cmd == NAV_CMD_LAND ||
item->nav_cmd == NAV_CMD_TAKEOFF ||
item->nav_cmd == NAV_CMD_LOITER_TO_ALT ||
item->nav_cmd == NAV_CMD_VTOL_TAKEOFF ||
item->nav_cmd == NAV_CMD_VTOL_LAND) {
return true;
}
return false;
return item->nav_cmd == NAV_CMD_WAYPOINT ||
item->nav_cmd == NAV_CMD_LOITER_UNLIMITED ||
item->nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
item->nav_cmd == NAV_CMD_LAND ||
item->nav_cmd == NAV_CMD_TAKEOFF ||
item->nav_cmd == NAV_CMD_LOITER_TO_ALT ||
item->nav_cmd == NAV_CMD_VTOL_TAKEOFF ||
item->nav_cmd == NAV_CMD_VTOL_LAND;
}
void

7
src/modules/systemlib/circuit_breaker.cpp
View File

@@ -50,10 +50,5 @@ bool circuit_breaker_enabled(const char *breaker, int32_t magic)
{
int32_t val = -1;
if (PX4_PARAM_GET_BYNAME(breaker, &val) == 0 && val == magic) {
return true;
}
return false;
return (PX4_PARAM_GET_BYNAME(breaker, &val) == 0) && (val == magic);
}

4
src/modules/vtol_att_control/vtol_att_control_main.cpp
View File

@@ -662,7 +662,7 @@ void VtolAttitudeControl::task_main()
parameters_update(); // initialize parameter cache
/* update vtol vehicle status*/
_vtol_vehicle_status.fw_permanent_stab = _params.vtol_fw_permanent_stab == 1 ? true : false;
_vtol_vehicle_status.fw_permanent_stab = (_params.vtol_fw_permanent_stab == 1);
// make sure we start with idle in mc mode
_vtol_type->set_idle_mc();
@@ -714,7 +714,7 @@ void VtolAttitudeControl::task_main()
parameters_update();
}
_vtol_vehicle_status.fw_permanent_stab = _params.vtol_fw_permanent_stab == 1 ? true : false;
_vtol_vehicle_status.fw_permanent_stab = (_params.vtol_fw_permanent_stab == 1);
mc_virtual_att_sp_poll();
fw_virtual_att_sp_poll();