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

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_lon =  _sub_vehicle_local_position.get().ref_lon;
+	double ref_lat = _sub_vehicle_local_position.get().ref_lat;
+	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,
-			    ref_lat,
-			    ref_lon);
+	map_projection_init(&_reference_position, ref_lat, ref_lon);
 
 	// check if everything is still finite
-	if (PX4_ISFINITE(_reference_altitude)
-	    && 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;
-	}
+	return PX4_ISFINITE(_reference_altitude) && PX4_ISFINITE(ref_lat) && PX4_ISFINITE(ref_lon);
 }
 
 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;
 	}