PreflightCheck: remove goto from imu consistency check

PX4 · Oct 9, 2019 · c570dc9 · c570dc9
1 parent 6066300
commit c570dc9
Showing 1 changed file with 3 additions and 7 deletions.
diff --git a/src/modules/commander/PreflightCheck.cpp b/src/modules/commander/PreflightCheck.cpp
@@ -150,7 +150,6 @@ static bool magnometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &sta
 
 static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, bool report_status)
 {
-	bool success = true; // start with a pass and change to a fail if any test fails
 	float test_limit = 1.0f; // pass limit re-used for each test
 
 	// Get sensor_preflight data if available and exit with a fail recorded if not
@@ -169,8 +168,7 @@ static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s
 			set_health_flags_healthy(subsystem_info_s::SUBSYSTEM_TYPE_ACC2, false, status);
 		}
 
-		success = false;
-		goto out;
+		return false;
 
 	} else if (sensors.accel_inconsistency_m_s_s > test_limit * 0.8f) {
 		if (report_status) {
@@ -188,17 +186,15 @@ static bool imuConsistencyCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s
 			set_health_flags_healthy(subsystem_info_s::SUBSYSTEM_TYPE_GYRO2, false, status);
 		}
 
-		success = false;
-		goto out;
+		return false;
 
 	} else if (sensors.gyro_inconsistency_rad_s > test_limit * 0.5f) {
 		if (report_status) {
 			mavlink_log_info(mavlink_log_pub, "Preflight Advice: Gyros inconsistent - Check Cal");
 		}
 	}
 
-out:
-	return success;
+	return true;
 }
 
 // return false if the magnetomer measurements are inconsistent