AP_Compass: reduce to if healthy check from if-else

libraries/AP_Compass/AP_Compass_Calibration.cpp

@@ -38,7 +38,9 @@ Compass::compass_cal_update()
 bool
 Compass::start_calibration(uint8_t i, bool retry, bool autosave, float delay, bool autoreboot)
 {
-    if (healthy(i)) {
+    if (!healthy(i)) {
+        return false;
+    }
     memset(_reports_sent,0,sizeof(_reports_sent));
     if (!is_calibrating() && delay > 0.5f) {
         AP_Notify::events.initiated_compass_cal = 1;
@@ -51,9 +53,6 @@ Compass::start_calibration(uint8_t i, bool retry, bool autosave, float delay, bo
     _calibrator[i].start(retry, autosave, delay);
     _compass_cal_autoreboot = autoreboot;
     return true;
-    } else {
-        return false;
-    }
 }
 
 bool

modules/PX4Firmware

@@ -1 +1 @@
-Subproject commit 34e1d543e49c2756b8fa4b81ef30468497ea792a
+Subproject commit 51858c810a3cb086d7c2041328bd32adec9fa724