diff --git a/src/lib/terrain_estimation/terrain_estimator.cpp b/src/lib/terrain_estimation/terrain_estimator.cpp
index 7f33c6fc4e..c3c02ba22f 100644
--- a/src/lib/terrain_estimation/terrain_estimator.cpp
+++ b/src/lib/terrain_estimation/terrain_estimator.cpp
@@ -54,12 +54,7 @@ TerrainEstimator::TerrainEstimator() :
 
 bool TerrainEstimator::is_distance_valid(float distance)
 {
-	if (distance > 40.0f || distance < 0.00001f) {
-		return false;
-
-	} else {
-		return true;
-	}
+	return (distance < 40.0f && distance > 0.00001f);
 }
 
 void TerrainEstimator::predict(float dt, const struct vehicle_attitude_s *attitude,
diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp
index 89c869b9d5..5697b8c011 100644
--- a/src/modules/commander/state_machine_helper.cpp
+++ b/src/modules/commander/state_machine_helper.cpp
@@ -351,12 +351,7 @@ bool is_safe(const struct safety_s *safety, const struct actuator_armed_s *armed
 	// 3) Safety switch is present AND engaged -> actuators locked
 	const bool lockdown = (armed->lockdown || armed->manual_lockdown);
 
-	if (!armed->armed || (armed->armed && lockdown) || (safety->safety_switch_available && !safety->safety_off)) {
-		return true;
-
-	} else {
-		return false;
-	}
+	return !armed->armed || (armed->armed && lockdown) || (safety->safety_switch_available && !safety->safety_off);
 }
 
 transition_result_t
diff --git a/src/modules/ekf2_replay/ekf2_replay_main.cpp b/src/modules/ekf2_replay/ekf2_replay_main.cpp
index 907dd225dd..68a372faa5 100644
--- a/src/modules/ekf2_replay/ekf2_replay_main.cpp
+++ b/src/modules/ekf2_replay/ekf2_replay_main.cpp
@@ -532,20 +532,16 @@ void Ekf2Replay::writeMessage(int &fd, void *data, size_t size)
 
 bool Ekf2Replay::needToSaveMessage(uint8_t type)
 {
-	if (type == LOG_ATT_MSG ||
-	    type == LOG_LPOS_MSG ||
-	    type == LOG_EST0_MSG ||
-	    type == LOG_EST1_MSG ||
-	    type == LOG_EST2_MSG ||
-	    type == LOG_EST3_MSG ||
-	    type == LOG_EST4_MSG ||
-	    type == LOG_EST5_MSG ||
-	    type == LOG_EST6_MSG ||
-	    type == LOG_CTS_MSG) {
-		return false;
-	}
-
-	return true;
+	return !(type == LOG_ATT_MSG ||
+		 type == LOG_LPOS_MSG ||
+		 type == LOG_EST0_MSG ||
+		 type == LOG_EST1_MSG ||
+		 type == LOG_EST2_MSG ||
+		 type == LOG_EST3_MSG ||
+		 type == LOG_EST4_MSG ||
+		 type == LOG_EST5_MSG ||
+		 type == LOG_EST6_MSG ||
+		 type == LOG_CTS_MSG);
 }
 
 // update all estimator topics and write them to log file
diff --git a/src/modules/fw_att_control/fw_att_control_main.cpp b/src/modules/fw_att_control/fw_att_control_main.cpp
index 9e4900a76e..0146373c3e 100644
--- a/src/modules/fw_att_control/fw_att_control_main.cpp
+++ b/src/modules/fw_att_control/fw_att_control_main.cpp
@@ -880,14 +880,7 @@ FixedwingAttitudeControl::task_main()
 			_att_sp.fw_control_yaw = _att_sp.fw_control_yaw && _vcontrol_mode.flag_control_auto_enabled;
 
 			/* lock integrator until control is started */
-			bool lock_integrator;
-
-			if (_vcontrol_mode.flag_control_rates_enabled && !_vehicle_status.is_rotary_wing) {
-				lock_integrator = false;
-
-			} else {
-				lock_integrator = true;
-			}
+			bool lock_integrator = !(_vcontrol_mode.flag_control_rates_enabled && !_vehicle_status.is_rotary_wing);
 
 			/* Simple handling of failsafe: deploy parachute if failsafe is on */
 			if (_vcontrol_mode.flag_control_termination_enabled) {
diff --git a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
index a55d89f470..817c70f2cc 100644
--- a/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
+++ b/src/modules/fw_pos_control_l1/fw_pos_control_l1_main.cpp
@@ -1058,13 +1058,8 @@ FixedwingPositionControl::in_takeoff_situation()
 	// in air for < 10s
 	const hrt_abstime delta_takeoff = 10000000;
 
-	if (hrt_elapsed_time(&_time_went_in_air) < delta_takeoff
-	    && _global_pos.alt <= _takeoff_ground_alt + _parameters.climbout_diff) {
-
-		return true;
-	}
-
-	return false;
+	return hrt_elapsed_time(&_time_went_in_air) < delta_takeoff
+	       && _global_pos.alt <= _takeoff_ground_alt + _parameters.climbout_diff;
 }
 
 void
diff --git a/src/modules/land_detector/FixedwingLandDetector.cpp b/src/modules/land_detector/FixedwingLandDetector.cpp
index f29e22c23c..b1812d6014 100644
--- a/src/modules/land_detector/FixedwingLandDetector.cpp
+++ b/src/modules/land_detector/FixedwingLandDetector.cpp
@@ -142,16 +142,10 @@ bool FixedwingLandDetector::_get_landed_state()
 		_accel_horz_lp = _accel_horz_lp * 0.8f + _controlState.horz_acc_mag * 0.18f;
 
 		// crude land detector for fixedwing
-		if (_velocity_xy_filtered < _params.maxVelocity
-		    && _velocity_z_filtered < _params.maxClimbRate
-		    && _airspeed_filtered < _params.maxAirSpeed
-		    && _accel_horz_lp < _params.maxIntVelocity) {
-
-			landDetected = true;
-
-		} else {
-			landDetected = false;
-		}
+		landDetected = _velocity_xy_filtered < _params.maxVelocity
+			       && _velocity_z_filtered < _params.maxClimbRate
+			       && _airspeed_filtered < _params.maxAirSpeed
+			       && _accel_horz_lp < _params.maxIntVelocity;
 
 	} else {
 		// Control state topic has timed out and we need to assume we're landed.
diff --git a/src/modules/land_detector/MulticopterLandDetector.cpp b/src/modules/land_detector/MulticopterLandDetector.cpp
index c3ec4e64b9..a41356a877 100644
--- a/src/modules/land_detector/MulticopterLandDetector.cpp
+++ b/src/modules/land_detector/MulticopterLandDetector.cpp
@@ -186,12 +186,7 @@ bool MulticopterLandDetector::_get_ground_contact_state()
 
 	// If pilots commands down or in auto mode and we are already below minimal thrust and we do not move down we assume ground contact
 	// TODO: we need an accelerometer based check for vertical movement for flying without GPS
-	if (manual_control_idle_or_auto && _has_minimal_thrust() &&
-	    (!verticalMovement || !_has_altitude_lock())) {
-		return true;
-	}
-
-	return false;
+	return manual_control_idle_or_auto && _has_minimal_thrust() && (!verticalMovement || !_has_altitude_lock());
 }
 
 bool MulticopterLandDetector::_get_landed_state()
@@ -231,14 +226,7 @@ bool MulticopterLandDetector::_get_landed_state()
 		// if this persists for 8 seconds AND the drone is not
 		// falling consider it to be landed. This should even sustain
 		// quite acrobatic flight.
-		if ((_min_trust_start > 0) &&
-		    (hrt_elapsed_time(&_min_trust_start) > 8000000)) {
-
-			return true;
-
-		} else {
-			return false;
-		}
+		return (_min_trust_start > 0) && (hrt_elapsed_time(&_min_trust_start) > 8000000);
 	}
 
 	float armThresholdFactor = 1.0f;
diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
index aabfab11d9..8cb3383bf6 100644
--- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+++ b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
@@ -563,11 +563,7 @@ bool BlockLocalPositionEstimator::landed()
 
 	bool disarmed_not_falling = (!_sub_armed.get().armed) && (!_sub_land.get().freefall);
 
-	if (!(_sub_land.get().landed || disarmed_not_falling)) {
-		return false;
-	}
-
-	return true;
+	return _sub_land.get().landed || disarmed_not_falling;
 }
 
 void BlockLocalPositionEstimator::publishLocalPos()
diff --git a/src/modules/mavlink/mavlink_mission.cpp b/src/modules/mavlink/mavlink_mission.cpp
index 408f46cb15..72a02c55af 100644
--- a/src/modules/mavlink/mavlink_mission.cpp
+++ b/src/modules/mavlink/mavlink_mission.cpp
@@ -948,7 +948,7 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
 			mission_item->nav_cmd = NAV_CMD_LOITER_TIME_LIMIT;
 			mission_item->time_inside = mavlink_mission_item->param1;
 			mission_item->loiter_radius = mavlink_mission_item->param3;
-			mission_item->loiter_exit_xtrack = (mavlink_mission_item->param4 > 0) ? true : false;
+			mission_item->loiter_exit_xtrack = (mavlink_mission_item->param4 > 0);
 			break;
 
 		case MAV_CMD_NAV_LAND:
@@ -965,9 +965,9 @@ MavlinkMissionManager::parse_mavlink_mission_item(const mavlink_mission_item_t *
 
 		case MAV_CMD_NAV_LOITER_TO_ALT:
 			mission_item->nav_cmd = NAV_CMD_LOITER_TO_ALT;
-			mission_item->force_heading = (mavlink_mission_item->param1 > 0) ? true : false;
+			mission_item->force_heading = (mavlink_mission_item->param1 > 0);
 			mission_item->loiter_radius = mavlink_mission_item->param2;
-			mission_item->loiter_exit_xtrack = (mavlink_mission_item->param4 > 0) ? true : false;
+			mission_item->loiter_exit_xtrack = (mavlink_mission_item->param4 > 0);
 			break;
 
 		case MAV_CMD_NAV_VTOL_TAKEOFF:
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index 86ba14679e..a3ad1fa17d 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -498,20 +498,14 @@ MissionBlock::get_time_inside(const struct mission_item_s &item)
 bool
 MissionBlock::item_contains_position(const struct mission_item_s *item)
 {
-	if (item->nav_cmd == NAV_CMD_WAYPOINT ||
-	    item->nav_cmd == NAV_CMD_LOITER_UNLIMITED ||
-	    item->nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
-	    item->nav_cmd == NAV_CMD_LAND ||
-	    item->nav_cmd == NAV_CMD_TAKEOFF ||
-	    item->nav_cmd == NAV_CMD_LOITER_TO_ALT ||
-	    item->nav_cmd == NAV_CMD_VTOL_TAKEOFF ||
-	    item->nav_cmd == NAV_CMD_VTOL_LAND) {
-
-		return true;
-
-	}
-
-	return false;
+	return item->nav_cmd == NAV_CMD_WAYPOINT ||
+	       item->nav_cmd == NAV_CMD_LOITER_UNLIMITED ||
+	       item->nav_cmd == NAV_CMD_LOITER_TIME_LIMIT ||
+	       item->nav_cmd == NAV_CMD_LAND ||
+	       item->nav_cmd == NAV_CMD_TAKEOFF ||
+	       item->nav_cmd == NAV_CMD_LOITER_TO_ALT ||
+	       item->nav_cmd == NAV_CMD_VTOL_TAKEOFF ||
+	       item->nav_cmd == NAV_CMD_VTOL_LAND;
 }
 
 void
diff --git a/src/modules/systemlib/circuit_breaker.cpp b/src/modules/systemlib/circuit_breaker.cpp
index c980ee757c..9a6fdd5834 100644
--- a/src/modules/systemlib/circuit_breaker.cpp
+++ b/src/modules/systemlib/circuit_breaker.cpp
@@ -50,10 +50,5 @@ bool circuit_breaker_enabled(const char *breaker, int32_t magic)
 {
 	int32_t val = -1;
 
-	if (PX4_PARAM_GET_BYNAME(breaker, &val) == 0 && val == magic) {
-		return true;
-	}
-
-	return false;
+	return (PX4_PARAM_GET_BYNAME(breaker, &val) == 0) && (val == magic);
 }
-
diff --git a/src/modules/vtol_att_control/vtol_att_control_main.cpp b/src/modules/vtol_att_control/vtol_att_control_main.cpp
index e5258acf98..63a319a000 100644
--- a/src/modules/vtol_att_control/vtol_att_control_main.cpp
+++ b/src/modules/vtol_att_control/vtol_att_control_main.cpp
@@ -662,7 +662,7 @@ void VtolAttitudeControl::task_main()
 	parameters_update();  // initialize parameter cache
 
 	/* update vtol vehicle status*/
-	_vtol_vehicle_status.fw_permanent_stab = _params.vtol_fw_permanent_stab == 1 ? true : false;
+	_vtol_vehicle_status.fw_permanent_stab = (_params.vtol_fw_permanent_stab == 1);
 
 	// make sure we start with idle in mc mode
 	_vtol_type->set_idle_mc();
@@ -714,7 +714,7 @@ void VtolAttitudeControl::task_main()
 			parameters_update();
 		}
 
-		_vtol_vehicle_status.fw_permanent_stab = _params.vtol_fw_permanent_stab == 1 ? true : false;
+		_vtol_vehicle_status.fw_permanent_stab = (_params.vtol_fw_permanent_stab == 1);
 
 		mc_virtual_att_sp_poll();
 		fw_virtual_att_sp_poll();