Copter: Grouping judgment conditions

[muramura]

Multiple IF statements contain the same decision condition.
I have grouped the judgment conditions.

[lthall]

I like it but I would like to see the following line split out by removing the internal decision statement.
auto_yaw.set_yaw_angle_rate(yaw_cd * 0.01f, use_yaw_rate ? yaw_rate_cds * 0.01f : 0.0f);

[muramura]

@lthall san.
Thanks for the review.
I have made the changes.

[lthall]

Sorry for the delay. Do you want to do a quick rebase and I will try to get it approved at the next dev call.

[peterbarker]

I'm not a great fan of this, but marking I've rebased it and I'm marking for DevCall.

[lthall]

Looks correct to me

[rmackay9]

It's correct but I think it's less easy to understand after the change. I think with two of us not liking the change I think I'll close it