Sub: Simplify some returns

Signed-off-by: Patrick José Pereira <patrickelectric@gmail.com>

ArduSub/Attitude.cpp

@@ -199,7 +199,6 @@ uint16_t Sub::get_pilot_speed_dn()
 {
     if (g.pilot_speed_dn == 0) {
         return abs(g.pilot_speed_up);
-    } else {
-        return abs(g.pilot_speed_dn);
     }
+    return abs(g.pilot_speed_dn);
 }

ArduSub/commands.cpp

@@ -105,10 +105,5 @@ bool Sub::far_from_EKF_origin(const Location& loc)
 {
     // check distance to EKF origin
     const struct Location &ekf_origin = inertial_nav.get_origin();
-    if (get_distance(ekf_origin, loc) > EKF_ORIGIN_MAX_DIST_M) {
+    return (get_distance(ekf_origin, loc) > EKF_ORIGIN_MAX_DIST_M);
-        return true;
-    }
-
-    // close enough to origin
-    return false;
 }

ArduSub/control_althold.cpp

@@ -66,11 +66,10 @@ void Sub::althold_run()
 
         attitude_control.input_euler_angle_roll_pitch_yaw(target_roll * 1e2f, target_pitch * 1e2f, target_yaw * 1e2f, true);
         return;
-
-    } else {
-        get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, attitude_control.get_althold_lean_angle_max());
     }
 
+    get_pilot_desired_lean_angles(channel_roll->get_control_in(), channel_pitch->get_control_in(), target_roll, target_pitch, attitude_control.get_althold_lean_angle_max());
+
     // get pilot's desired yaw rate
     float target_yaw_rate = get_pilot_desired_yaw_rate(channel_yaw->get_control_in());
 

ArduSub/flight_mode.cpp

@@ -194,10 +194,11 @@ bool Sub::mode_has_manual_throttle(control_mode_t mode)
 //  arming_from_gcs should be set to true if the arming request comes from the ground station
 bool Sub::mode_allows_arming(control_mode_t mode, bool arming_from_gcs)
 {
-    if (mode_has_manual_throttle(mode) || mode == ALT_HOLD || mode == POSHOLD || (arming_from_gcs && mode == GUIDED)) {
+    return (mode_has_manual_throttle(mode)
-        return true;
+        || mode == ALT_HOLD
-    }
+        || mode == POSHOLD
-    return false;
+        || (arming_from_gcs&& mode == GUIDED)
+    );
 }
 
 // notify_flight_mode - sets notify object based on flight mode.  Only used for OreoLED notify device

ArduSub/system.cpp

@@ -259,10 +259,10 @@ bool Sub::ekf_position_ok()
     // if disarmed we accept a predicted horizontal position
     if (!motors.armed()) {
         return ((filt_status.flags.horiz_pos_abs || filt_status.flags.pred_horiz_pos_abs));
-    } else {
-        // once armed we require a good absolute position and EKF must not be in const_pos_mode
-        return (filt_status.flags.horiz_pos_abs && !filt_status.flags.const_pos_mode);
     }
+
+    // once armed we require a good absolute position and EKF must not be in const_pos_mode
+    return (filt_status.flags.horiz_pos_abs && !filt_status.flags.const_pos_mode);
 }
 
 // optflow_position_ok - returns true if optical flow based position estimate is ok
@@ -282,9 +282,8 @@ bool Sub::optflow_position_ok()
     // if disarmed we accept a predicted horizontal relative position
     if (!motors.armed()) {
         return (filt_status.flags.pred_horiz_pos_rel);
-    } else {
-        return (filt_status.flags.horiz_pos_rel && !filt_status.flags.const_pos_mode);
     }
+    return (filt_status.flags.horiz_pos_rel && !filt_status.flags.const_pos_mode);
 #endif
 }