Revert if-else condition to get rid of unnecessary indentation

EKF/ekf.cpp

@@ -188,8 +188,7 @@ bool Ekf::initialiseFilter()
 
 	if (not_enough_baro_samples_accumulated || not_enough_mag_samples_accumulated) {
 		return false;
-
-	} else {
+	}
 	// we use baro height initially and switch to GPS/range/EV finder later when it passes checks.
 	setControlBaroHeight();
 
@@ -225,7 +224,6 @@ bool Ekf::initialiseFilter()
 
 	return true;
 }
-}
 
 bool Ekf::initialiseTilt()
 {

EKF/ekf_helper.cpp

@@ -369,7 +369,13 @@ bool Ekf::realignYawGPS()
 
 	// Need at least 5 m/s of GPS horizontal speed and
 	// ratio of velocity error to velocity < 0.15  for a reliable alignment
-	if ((gpsSpeed > 5.0f) && (_gps_sample_delayed.sacc < (0.15f * gpsSpeed))) {
+	const bool gps_yaw_alignment_possible = (gpsSpeed > 5.0f) && (_gps_sample_delayed.sacc < (0.15f * gpsSpeed));
+
+	if (!gps_yaw_alignment_possible) {
+		// attempt a normal alignment using the magnetometer
+		return resetMagHeading(_mag_lpf.getState());
+	}
+
 	// check for excessive horizontal GPS velocity innovations
 	const bool badVelInnov = (_gps_vel_test_ratio(0) > 1.0f) && _control_status.flags.gps;
 
@@ -457,12 +463,6 @@ bool Ekf::realignYawGPS()
 
 		return true;
 	}
-
-	} else {
-		// attempt a normal alignment using the magnetometer
-		return resetMagHeading(_mag_lpf.getState());
-
-	}
 }
 
 // Reset heading and magnetic field states
@@ -1687,7 +1687,16 @@ bool Ekf::resetYawToEKFGSF()
 	// don't allow reet using the EKF-GSF estimate until the filter has started fusing velocity
 	// data and the yaw estimate has converged
 	float new_yaw, new_yaw_variance;
-	if (yawEstimator.getYawData(&new_yaw, &new_yaw_variance) && new_yaw_variance < sq(_params.EKFGSF_yaw_err_max)) {
+
+	if (!yawEstimator.getYawData(&new_yaw, &new_yaw_variance)) {
+		return false;
+	}
+
+	const bool has_converged = new_yaw_variance < sq(_params.EKFGSF_yaw_err_max);
+
+	if (!has_converged) {
+		return false;
+	}
 
 	resetQuatStateYaw(new_yaw, new_yaw_variance, true);
 
@@ -1711,10 +1720,6 @@ bool Ekf::resetYawToEKFGSF()
 	return true;
 }
 
-	return false;
-
-}
-
 void Ekf::requestEmergencyNavReset()
 {
 	_do_ekfgsf_yaw_reset = true;