clang-tidy: enable readability-simplify-boolean-expr and fix

.clang-tidy

@@ -99,7 +99,6 @@ Checks:          '*,
                   -readability-redundant-control-flow,
                   -readability-redundant-declaration,
                   -readability-redundant-member-init,
-                  -readability-simplify-boolean-expr,
                   -readability-static-accessed-through-instance,
                   -readability-static-definition-in-anonymous-namespace,
                  '

platforms/posix/src/px4/common/main.cpp

@@ -590,11 +590,7 @@ bool is_already_running(int instance)
 
 	if (fcntl(fd, F_SETLK, &fl) == -1) {
 		// We failed to create a file lock, must be already locked.
-		if (errno == EACCES || errno == EAGAIN) {
+		return errno == EACCES || errno == EAGAIN;
-			return true;
-		}
-
-		return false;
 	}
 
 	errno = 0;

src/lib/FlightTasks/tasks/Auto/FlightTaskAuto.cpp

@@ -354,8 +354,8 @@ bool FlightTaskAuto::_evaluateGlobalReference()
 		return true;
 	}
 
-	double ref_lat =  _sub_vehicle_local_position.get().ref_lat;
+	double ref_lat = _sub_vehicle_local_position.get().ref_lat;
-	double ref_lon =  _sub_vehicle_local_position.get().ref_lon;
+	double ref_lon = _sub_vehicle_local_position.get().ref_lon;
 	_reference_altitude = _sub_vehicle_local_position.get().ref_alt;
 
 	if (!_sub_vehicle_local_position.get().z_global) {
@@ -372,20 +372,10 @@ bool FlightTaskAuto::_evaluateGlobalReference()
 	}
 
 	// init projection
-	map_projection_init(&_reference_position,
+	map_projection_init(&_reference_position, ref_lat, ref_lon);
-			    ref_lat,
-			    ref_lon);
 
 	// check if everything is still finite
-	if (PX4_ISFINITE(_reference_altitude)
+	return PX4_ISFINITE(_reference_altitude) && PX4_ISFINITE(ref_lat) && PX4_ISFINITE(ref_lon);
-	    && PX4_ISFINITE(_sub_vehicle_local_position.get().ref_lat)
-	    && PX4_ISFINITE(_sub_vehicle_local_position.get().ref_lon)) {
-		return true;
-
-	} else {
-		// no valid reference
-		return false;
-	}
 }
 
 void FlightTaskAuto::_setDefaultConstraints()

src/lib/FlightTasks/tasks/Utility/ObstacleAvoidance.cpp

@@ -70,7 +70,7 @@ void ObstacleAvoidance::injectAvoidanceSetpoints(Vector3f &pos_sp, Vector3f &vel
 	const bool avoidance_data_timeout = hrt_elapsed_time((hrt_abstime *)&_sub_vehicle_trajectory_waypoint.get().timestamp)
 					    > TRAJECTORY_STREAM_TIMEOUT_US;
 	const bool avoidance_point_valid =
-		_sub_vehicle_trajectory_waypoint.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].point_valid == true;
+		_sub_vehicle_trajectory_waypoint.get().waypoints[vehicle_trajectory_waypoint_s::POINT_0].point_valid;
 
 	_avoidance_point_not_valid_hysteresis.set_state_and_update(!avoidance_point_valid, hrt_absolute_time());
 

src/lib/hysteresis/hysteresis.cpp

@@ -45,7 +45,7 @@ namespace systemlib
 void
 Hysteresis::set_hysteresis_time_from(const bool from_state, const hrt_abstime new_hysteresis_time_us)
 {
-	if (from_state == true) {
+	if (from_state) {
 		_time_from_true_us = new_hysteresis_time_us;
 
 	} else {

src/lib/parameters/parameters.cpp

@@ -501,7 +501,7 @@ param_value_is_default(param_t param)
 	param_lock_reader();
 	s = param_find_changed(param);
 	param_unlock_reader();
-	return s ? false : true;
+	return s == nullptr;
 }
 
 bool

src/lib/rc/dsm.cpp

@@ -712,7 +712,7 @@ dsm_parse(const uint64_t now, const uint8_t *frame, const unsigned len, uint16_t
 				dsm_partial_frame_count = 0;
 
 				/* if decoding failed, set proto to desync */
-				if (decode_ret == false) {
+				if (!decode_ret) {
 					dsm_decode_state = DSM_DECODE_STATE_DESYNC;
 					dsm_frame_drops++;
 				}

src/lib/terrain_estimation/terrain_estimator.cpp

@@ -186,7 +186,7 @@ void TerrainEstimator::measurement_update(uint64_t time_ref, const struct vehicl
 	}
 
 	if (reinit) {
-		memset(&_x._data[0], 0, sizeof(_x._data));
+		_x.zero();
 		_P.setZero();
 		_P(0, 0) = _P(1, 1) = _P(2, 2) = 0.1f;
 	}

src/modules/commander/Commander.cpp

@@ -1983,16 +1983,14 @@ Commander::run()
 			/* handle the case where RC signal was regained */
 			if (!status_flags.rc_signal_found_once) {
 				status_flags.rc_signal_found_once = true;
-				set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true, true
+				set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true, status_flags.rc_calibration_valid, status);
-						 && status_flags.rc_calibration_valid, status);
 				status_changed = true;
 
 			} else {
 				if (status.rc_signal_lost) {
 					mavlink_log_info(&mavlink_log_pub, "Manual control regained after %llums",
 							 hrt_elapsed_time(&rc_signal_lost_timestamp) / 1000);
-					set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true, true
+					set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_RCRECEIVER, true, true, status_flags.rc_calibration_valid, status);
-							 && status_flags.rc_calibration_valid, status);
 					status_changed = true;
 				}
 			}

src/modules/commander/PreflightCheck.cpp

@@ -868,7 +868,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, veh
 
 	/* ---- BARO ---- */
 	if (checkSensors) {
-		bool prime_found = false;
+		//bool prime_found = false;
 
 		int32_t prime_id = -1;
 		param_get(param_find("CAL_BARO_PRIME"), &prime_id);
@@ -887,7 +887,7 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, veh
 
 			if (baroCheck(mavlink_log_pub, status, i, !required, device_id, report_fail)) {
 				if ((prime_id > 0) && (device_id == prime_id)) {
-					prime_found = true;
+					//prime_found = true;
 				}
 
 			} else {
@@ -900,14 +900,14 @@ bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, veh
 
 		// TODO there is no logic in place to calibrate the primary baro yet
 		// // check if the primary device is present
-		if (!prime_found && false) {
+		// if (false) {
-			if (reportFailures && !failed) {
+		// 	if (reportFailures && !failed) {
-				mavlink_log_critical(mavlink_log_pub, "Primary barometer not operational");
+		// 		mavlink_log_critical(mavlink_log_pub, "Primary barometer not operational");
-			}
+		// 	}
-
+
-			set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_ABSPRESSURE, false, true, false, status);
+		// 	set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_ABSPRESSURE, false, true, false, status);
-			failed = true;
+		// 	failed = true;
-		}
+		// }
 	}
 
 	/* ---- IMU CONSISTENCY ---- */

src/modules/land_detector/MulticopterLandDetector.cpp

@@ -165,12 +165,8 @@ bool MulticopterLandDetector::_get_ground_contact_state()
 	bool hit_ground = _in_descend && !vertical_movement;
 
 	// TODO: we need an accelerometer based check for vertical movement for flying without GPS
-	if ((_has_low_thrust() || hit_ground) && (!_horizontal_movement || !_has_position_lock())
+	return (_has_low_thrust() || hit_ground) && (!_horizontal_movement || !_has_position_lock())
-	    && (!vertical_movement || !_has_altitude_lock())) {
+	       && (!vertical_movement || !_has_altitude_lock());
-		return true;
-	}
-
-	return false;
 }
 
 bool MulticopterLandDetector::_get_maybe_landed_state()
@@ -215,12 +211,8 @@ bool MulticopterLandDetector::_get_maybe_landed_state()
 		return (_min_trust_start > 0) && (hrt_elapsed_time(&_min_trust_start) > 8_s);
 	}
 
-	if (_ground_contact_hysteresis.get_state() && _has_minimal_thrust() && !rotating) {
+	// Ground contact, no thrust and no movement -> landed
-		// Ground contact, no thrust and no movement -> landed
+	return _ground_contact_hysteresis.get_state() && _has_minimal_thrust() && !rotating;
-		return true;
-	}
-
-	return false;
 }
 
 bool MulticopterLandDetector::_get_landed_state()
@@ -318,12 +310,7 @@ bool MulticopterLandDetector::_has_minimal_thrust()
 
 bool MulticopterLandDetector::_get_ground_effect_state()
 {
-	if (_in_descend && !_horizontal_movement) {
+	return _in_descend && !_horizontal_movement;
-		return true;
-
-	} else {
-		return false;
-	}
 }
 
 } // namespace land_detector

src/modules/land_detector/RoverLandDetector.cpp

@@ -51,11 +51,7 @@ bool RoverLandDetector::_get_ground_contact_state()
 
 bool RoverLandDetector::_get_landed_state()
 {
-	if (!_actuator_armed.armed) {
+	return !_actuator_armed.armed;
-		return true;
-	}
-
-	return false;
 }
 
 } // namespace land_detector

src/modules/navigator/follow_target.cpp

@@ -240,7 +240,7 @@ void FollowTarget::on_active()
 
 	case TRACK_POSITION: {
 
-			if (_radius_entered == true) {
+			if (_radius_entered) {
 				_follow_target_state = TRACK_VELOCITY;
 
 			} else if (target_velocity_valid()) {
@@ -259,7 +259,7 @@ void FollowTarget::on_active()
 
 	case TRACK_VELOCITY: {
 
-			if (_radius_exited == true) {
+			if (_radius_exited) {
 				_follow_target_state = TRACK_POSITION;
 
 			} else if (target_velocity_valid()) {

src/modules/navigator/mission_feasibility_checker.cpp

@@ -352,35 +352,29 @@ MissionFeasibilityChecker::checkTakeoff(const mission_s &mission, float home_alt
 				return false;
 			}
 
-			if (missionitem.nav_cmd != NAV_CMD_IDLE &&
+			takeoff_first = !(missionitem.nav_cmd != NAV_CMD_IDLE &&
-			    missionitem.nav_cmd != NAV_CMD_DELAY &&
+					  missionitem.nav_cmd != NAV_CMD_DELAY &&
-			    missionitem.nav_cmd != NAV_CMD_DO_JUMP &&
+					  missionitem.nav_cmd != NAV_CMD_DO_JUMP &&
-			    missionitem.nav_cmd != NAV_CMD_DO_CHANGE_SPEED &&
+					  missionitem.nav_cmd != NAV_CMD_DO_CHANGE_SPEED &&
-			    missionitem.nav_cmd != NAV_CMD_DO_SET_HOME &&
+					  missionitem.nav_cmd != NAV_CMD_DO_SET_HOME &&
-			    missionitem.nav_cmd != NAV_CMD_DO_SET_SERVO &&
+					  missionitem.nav_cmd != NAV_CMD_DO_SET_SERVO &&
-			    missionitem.nav_cmd != NAV_CMD_DO_LAND_START &&
+					  missionitem.nav_cmd != NAV_CMD_DO_LAND_START &&
-			    missionitem.nav_cmd != NAV_CMD_DO_TRIGGER_CONTROL &&
+					  missionitem.nav_cmd != NAV_CMD_DO_TRIGGER_CONTROL &&
-			    missionitem.nav_cmd != NAV_CMD_DO_DIGICAM_CONTROL &&
+					  missionitem.nav_cmd != NAV_CMD_DO_DIGICAM_CONTROL &&
-			    missionitem.nav_cmd != NAV_CMD_IMAGE_START_CAPTURE &&
+					  missionitem.nav_cmd != NAV_CMD_IMAGE_START_CAPTURE &&
-			    missionitem.nav_cmd != NAV_CMD_IMAGE_STOP_CAPTURE &&
+					  missionitem.nav_cmd != NAV_CMD_IMAGE_STOP_CAPTURE &&
-			    missionitem.nav_cmd != NAV_CMD_VIDEO_START_CAPTURE &&
+					  missionitem.nav_cmd != NAV_CMD_VIDEO_START_CAPTURE &&
-			    missionitem.nav_cmd != NAV_CMD_VIDEO_STOP_CAPTURE &&
+					  missionitem.nav_cmd != NAV_CMD_VIDEO_STOP_CAPTURE &&
-			    missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONFIGURE &&
+					  missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONFIGURE &&
-			    missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONTROL &&
+					  missionitem.nav_cmd != NAV_CMD_DO_MOUNT_CONTROL &&
-			    missionitem.nav_cmd != NAV_CMD_DO_SET_ROI &&
+					  missionitem.nav_cmd != NAV_CMD_DO_SET_ROI &&
-			    missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_LOCATION &&
+					  missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_LOCATION &&
-			    missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET &&
+					  missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_WPNEXT_OFFSET &&
-			    missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_NONE &&
+					  missionitem.nav_cmd != NAV_CMD_DO_SET_ROI_NONE &&
-			    missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_DIST &&
+					  missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_DIST &&
-			    missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL &&
+					  missionitem.nav_cmd != NAV_CMD_DO_SET_CAM_TRIGG_INTERVAL &&
-			    missionitem.nav_cmd != NAV_CMD_SET_CAMERA_MODE &&
+					  missionitem.nav_cmd != NAV_CMD_SET_CAMERA_MODE &&
-			    missionitem.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION) {
+					  missionitem.nav_cmd != NAV_CMD_DO_VTOL_TRANSITION);
-				takeoff_first = false;
-
-			} else {
-				takeoff_first = true;
-
-			}
 		}
 	}
 

src/modules/vtol_att_control/standard.cpp

@@ -127,7 +127,7 @@ void Standard::update_vtol_state()
 
 		} else if (_vtol_schedule.flight_mode == vtol_mode::FW_MODE) {
 			// transition to mc mode
-			if (_vtol_vehicle_status->vtol_transition_failsafe == true) {
+			if (_vtol_vehicle_status->vtol_transition_failsafe) {
 				// Failsafe event, engage mc motors immediately
 				_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
 				_pusher_throttle = 0.0f;