diff --git a/src/modules/ekf2/test/test_EKF_covariance_prediction_generated.cpp b/src/modules/ekf2/test/test_EKF_covariance_prediction_generated.cpp
index 324f1d9621..2cc0dcf7d0 100644
--- a/src/modules/ekf2/test/test_EKF_covariance_prediction_generated.cpp
+++ b/src/modules/ekf2/test/test_EKF_covariance_prediction_generated.cpp
@@ -811,6 +811,6 @@ TEST(CovariancePredictionGenerated, SympyVsSymforce)
 	}
 
 	DiffRatioReport report = computeDiffRatioSquareMatrix24f(nextP_sympy, nextP_symforce);
-	EXPECT_LT(report.max_diff_fraction, 1e-5f) << "Max diff fraction = " << report.max_diff_fraction <<
+	EXPECT_LT(report.max_diff_fraction, 2e-5f) << "Max diff fraction = " << report.max_diff_fraction <<
 			" location index = " << report.max_row << " sympy = " << report.max_v1 << " symforce = " << report.max_v2;
 }
diff --git a/src/modules/ekf2/test/test_EKF_yaw_fusion_generated.cpp b/src/modules/ekf2/test/test_EKF_yaw_fusion_generated.cpp
index 9078066625..be2d453640 100644
--- a/src/modules/ekf2/test/test_EKF_yaw_fusion_generated.cpp
+++ b/src/modules/ekf2/test/test_EKF_yaw_fusion_generated.cpp
@@ -70,7 +70,7 @@ TEST(YawFusionGenerated, singularityYawEquivalence)
 	// THEN: Even at the singularity point, the result is still correct, thanks to epsilon
 	EXPECT_TRUE(isEqual(H_a, H_b));
 	EXPECT_NEAR(innov_var_a, innov_var_b, 1e-5f);
-	EXPECT_TRUE(innov_var_a < 5.f && innov_var_a > R) << "innov_var = " << innov_var_a;
+	EXPECT_TRUE(innov_var_a < 50.f && innov_var_a > R) << "innov_var = " << innov_var_a;
 }
 
 TEST(YawFusionGenerated, gimbalLock321vs312)
@@ -98,7 +98,7 @@ TEST(YawFusionGenerated, gimbalLock321vs312)
 	// THEN: both computation are not equivalent, 321 is undefined but 312 is valid
 	EXPECT_FALSE(isEqual(H_321, H_312));
 	EXPECT_GT(fabsf(innov_var_321 - innov_var_312), 1e6f);
-	EXPECT_TRUE(innov_var_312 < 5.f && innov_var_312 > R) << "innov_var = " << innov_var_312;
+	EXPECT_TRUE(innov_var_312 < 50.f && innov_var_312 > R) << "innov_var = " << innov_var_312;
 }
 
 TEST(YawFusionGenerated, positiveVarianceAllOrientations)
diff --git a/src/modules/ekf2/test/test_helper/comparison_helper.cpp b/src/modules/ekf2/test/test_helper/comparison_helper.cpp
index 474ed56368..0d8ddcd74a 100644
--- a/src/modules/ekf2/test/test_helper/comparison_helper.cpp
+++ b/src/modules/ekf2/test/test_helper/comparison_helper.cpp
@@ -40,6 +40,7 @@ float randf()
 
 SquareMatrix24f createRandomCovarianceMatrix24f()
 {
+	// Create a symmetric square matrix
 	SquareMatrix24f P;
 
 	for (int col = 0; col <= 23; col++) {
@@ -53,6 +54,9 @@ SquareMatrix24f createRandomCovarianceMatrix24f()
 		}
 	}
 
+	// Make it positive definite
+	P = P.transpose() * P;
+
 	return P;
 }