ekf2: fix unit test changes due to GNSS start logic

Especially because the EKF doesn't need to reset the states if the test
ratio is already passing

src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv

@@ -103,289 +103,289 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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src/modules/ekf2/test/change_indication/iris_gps.csv

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src/modules/ekf2/test/test_EKF_fusionLogic.cpp

@@ -404,7 +404,7 @@ TEST_F(EkfFusionLogicTest, doBaroHeightFusionTimeout)
 	_ekf_wrapper.enableGpsHeightFusion();
 	_sensor_simulator.runSeconds(11);
 	reset_logging_checker.capturePostResetState();
-	EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(2));
+	EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(1));
 	EXPECT_TRUE(reset_logging_checker.isVerticalPositionResetCounterIncreasedBy(1));
 
 	// AND: the baro data jumps by a lot
@@ -415,7 +415,7 @@ TEST_F(EkfFusionLogicTest, doBaroHeightFusionTimeout)
 	// THEN: EKF should fallback to GPS height (without reset)
 	EXPECT_FALSE(_ekf_wrapper.isIntendingBaroHeightFusion());
 	EXPECT_TRUE(_ekf_wrapper.isIntendingGpsHeightFusion());
-	EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(2));
+	EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(1));
 	EXPECT_TRUE(reset_logging_checker.isVerticalPositionResetCounterIncreasedBy(1));
 }
 

src/modules/ekf2/test/test_EKF_gps.cpp

@@ -135,7 +135,7 @@ TEST_F(EkfGpsTest, resetToGpsVelocity)
 
 	// AND: simulate constant velocity gps samples for short time
 	_sensor_simulator.startGps();
-	const Vector3f simulated_velocity(0.5f, 1.0f, -0.3f);
+	const Vector3f simulated_velocity(10.5f, 1.0f, -5.3f);
 	_sensor_simulator._gps.setVelocity(simulated_velocity);
 	const uint64_t dt_us = 1e5;
 	_sensor_simulator._gps.stepHorizontalPositionByMeters(Vector2f(simulated_velocity) * dt_us * 1e-6);
@@ -143,7 +143,7 @@ TEST_F(EkfGpsTest, resetToGpsVelocity)
 
 	_ekf->set_in_air_status(true);
 	_ekf->set_vehicle_at_rest(false);
-	_sensor_simulator.runSeconds(1.2); // required to pass the checks
+	_sensor_simulator.runSeconds(1.11); // required to pass the checks
 	_sensor_simulator.runMicroseconds(dt_us);
 
 	// THEN: a reset to GPS velocity should be done

src/modules/ekf2/test/test_EKF_height_fusion.cpp

@@ -329,7 +329,7 @@ TEST_F(EkfHeightFusionTest, gpsRefAllHgtFailReset)
 
 	// Also check the reset counters to make sure the reset logic triggered
 	reset_logging_checker.capturePostResetState();
-	EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(1));
+	EXPECT_TRUE(reset_logging_checker.isVerticalVelocityResetCounterIncreasedBy(0));
 	EXPECT_TRUE(reset_logging_checker.isVerticalPositionResetCounterIncreasedBy(1));
 }
 

src/modules/ekf2/test/test_EKF_terrain.cpp

@@ -226,7 +226,7 @@ TEST_F(EkfTerrainTest, testRngStartInAir)
 	runFlowAndRngScenario(rng_height, flow_height);
 
 	// THEN: the terrain should reset using rng
-	EXPECT_NEAR(rng_height, _ekf->getHagl(), 1e-3f);
+	EXPECT_NEAR(rng_height, _ekf->getHagl(), 2e-2f);
 
 	// AND: the terrain state should be highly correlated with the other height states
 	auto P = _ekf->covariances();
@@ -242,5 +242,5 @@ TEST_F(EkfTerrainTest, testRngStartInAir)
 
 	const float corr_terrain_abias_z = P(State::accel_bias.idx + 2,
 					     State::terrain.idx) / sqrtf(_ekf->getAccelBiasVariance()(2) * var_terrain);
-	EXPECT_NEAR(corr_terrain_abias_z, -0.4f, 0.03f);
+	EXPECT_NEAR(corr_terrain_abias_z, -0.3f, 0.03f);
 }