rangefinders : remove annoying gotos

src/drivers/ll40ls/LidarLiteI2C.cpp

@@ -114,14 +114,14 @@ int LidarLiteI2C::init()
 
 	/* do I2C init (and probe) first */
 	if (I2C::init() != OK) {
-		goto out;
+		return ret;
 	}
 
 	/* allocate basic report buffers */
 	_reports = new ringbuffer::RingBuffer(2, sizeof(struct distance_sensor_s));
 
 	if (_reports == nullptr) {
-		goto out;
+		return ret;
 	}
 
 	_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
@@ -140,7 +140,7 @@ int LidarLiteI2C::init()
 	ret = OK;
 	/* sensor is ok, but we don't really know if it is within range */
 	_sensor_ok = true;
-out:
+
 	return ret;
 }
 

src/drivers/ll40ls/LidarLitePWM.cpp

@@ -109,7 +109,7 @@ int LidarLitePWM::init()
 	_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
 
 	/* get a publish handle on the distance_sensor topic */
-	struct distance_sensor_s ds_report;
+	struct distance_sensor_s ds_report = {};
 	measure();
 	_reports->get(&ds_report);
 	_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,

src/drivers/mb12xx/mb12xx.cpp

@@ -255,7 +255,7 @@ MB12XX::init()
 
 	/* do I2C init (and probe) first */
 	if (I2C::init() != OK) {
-		goto out;
+		return ret;
 	}
 
 	/* allocate basic report buffers */
@@ -265,13 +265,13 @@ MB12XX::init()
 	set_address(_index_counter);		/* set I2c port to temp sonar i2c adress */
 
 	if (_reports == nullptr) {
-		goto out;
+		return ret;
 	}
 
 	_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
 
 	/* get a publish handle on the range finder topic */
-	struct distance_sensor_s ds_report;
+	struct distance_sensor_s ds_report = {};
 
 	_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
 				 &_orb_class_instance, ORB_PRIO_LOW);
@@ -319,7 +319,7 @@ MB12XX::init()
 	ret = OK;
 	/* sensor is ok, but we don't really know if it is within range */
 	_sensor_ok = true;
-out:
+
 	return ret;
 }
 

src/drivers/px4flow/px4flow.cpp

@@ -229,20 +229,20 @@ PX4FLOW::init()
 
 	/* do I2C init (and probe) first */
 	if (I2C::init() != OK) {
-		goto out;
+		return ret;
 	}
 
 	/* allocate basic report buffers */
 	_reports = new ringbuffer::RingBuffer(2, sizeof(optical_flow_s));
 
 	if (_reports == nullptr) {
-		goto out;
+		return ret;
 	}
 
 	_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
 
 	/* get a publish handle on the range finder topic */
-	struct distance_sensor_s ds_report;
+	struct distance_sensor_s ds_report = {};
 
 	_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
 				 &_orb_class_instance, ORB_PRIO_HIGH);
@@ -254,7 +254,7 @@ PX4FLOW::init()
 	ret = OK;
 	/* sensor is ok, but we don't really know if it is within range */
 	_sensor_ok = true;
-out:
+
 	return ret;
 }
 

src/drivers/sf0x/sf0x.cpp

@@ -297,7 +297,7 @@ SF0X::init()
 		_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
 
 		/* get a publish handle on the range finder topic */
-		struct distance_sensor_s ds_report;
+		struct distance_sensor_s ds_report = {};
 
 		_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
 					 &_orb_class_instance, ORB_PRIO_HIGH);

src/drivers/srf02/srf02.cpp

@@ -254,7 +254,7 @@ SRF02::init()
 
 	/* do I2C init (and probe) first */
 	if (I2C::init() != OK) {
-		goto out;
+		return ret;
 	}
 
 	/* allocate basic report buffers */
@@ -264,13 +264,13 @@ SRF02::init()
 	set_address(_index_counter);		/* set I2c port to temp sonar i2c adress */
 
 	if (_reports == nullptr) {
-		goto out;
+		return ret;
 	}
 
 	_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
 
 	/* get a publish handle on the range finder topic */
-	struct distance_sensor_s ds_report;
+	struct distance_sensor_s ds_report = {};
 
 	_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
 				 &_orb_class_instance, ORB_PRIO_LOW);
@@ -318,7 +318,7 @@ SRF02::init()
 	ret = OK;
 	/* sensor is ok, but we don't really know if it is within range */
 	_sensor_ok = true;
-out:
+
 	return ret;
 }