Unit tests: use EXPECT_FLOAT_EQ for float comparisons

as precaution to prevent failing tests because of small potential
rounding errors on certain platforms or compilares.

src/lib/collision_prevention/CollisionPreventionTest.cpp

@@ -313,7 +313,7 @@ TEST_F(CollisionPreventionTest, testPurgeOldData)
 		if (i < 6) {
 			// THEN: If the data is new enough, the velocity setpoint should stay the same as the input
 			// Note: direction will change slightly due to guidance
-			EXPECT_EQ(original_setpoint.norm(), modified_setpoint.norm());
+			EXPECT_FLOAT_EQ(original_setpoint.norm(), modified_setpoint.norm());
 
 		} else {
 			// THEN: If the data is expired, the velocity setpoint should be cut down to zero because there is no data
@@ -381,7 +381,7 @@ TEST_F(CollisionPreventionTest, testNoRangeData)
 		if (i < 5) {
 			// THEN: If the data is new enough, the velocity setpoint should stay the same as the input
 			// Note: direction will change slightly due to guidance
-			EXPECT_EQ(original_setpoint.norm(), modified_setpoint.norm());
+			EXPECT_FLOAT_EQ(original_setpoint.norm(), modified_setpoint.norm());
 
 		} else {
 			// THEN: If the data is expired, the velocity setpoint should be cut down to zero because there is no data
@@ -1008,8 +1008,8 @@ TEST_F(CollisionPreventionTest, adaptSetpointDirection_flat_minimum)
 
 	//THEN: the setpoint direction should be modified correctly
 	EXPECT_EQ(sp_index, 2);
-	EXPECT_FLOAT_EQ(setpoint_dir(0), 0.93969262);
-	EXPECT_FLOAT_EQ(setpoint_dir(1), 0.34202012);
+	EXPECT_FLOAT_EQ(setpoint_dir(0), 0.93969262f);
+	EXPECT_FLOAT_EQ(setpoint_dir(1), 0.34202012f);
 }
 
 TEST_F(CollisionPreventionTest, overlappingSensors)

src/lib/flight_tasks/tasks/Utility/ManualVelocitySmoothingXYTest.cpp

@@ -58,9 +58,9 @@ TEST_F(ManualVelocitySmoothingXYTest, setGet)
 	_smoothing.setMaxVel(5.f);
 
 	// THEN: We should be able to get them back
-	EXPECT_EQ(_smoothing.getMaxJerk(), 11.f);
-	EXPECT_EQ(_smoothing.getMaxAccel(), 7.f);
-	EXPECT_EQ(_smoothing.getMaxVel(), 5.f);
+	EXPECT_FLOAT_EQ(_smoothing.getMaxJerk(), 11.f);
+	EXPECT_FLOAT_EQ(_smoothing.getMaxAccel(), 7.f);
+	EXPECT_FLOAT_EQ(_smoothing.getMaxVel(), 5.f);
 }
 
 TEST_F(ManualVelocitySmoothingXYTest, getCurrentState)

src/lib/flight_tasks/tasks/Utility/VelocitySmoothingTest.cpp

@@ -172,9 +172,9 @@ TEST_F(VelocitySmoothingTest, testZeroSetpoint)
 
 	// THEN: All the trajectories should still be zero
 	for (int i = 0; i < 3; i++) {
-		EXPECT_EQ(_trajectories[i].getCurrentJerk(), 0.f);
-		EXPECT_EQ(_trajectories[i].getCurrentAcceleration(), 0.f);
-		EXPECT_EQ(_trajectories[i].getCurrentVelocity(), 0.f);
-		EXPECT_EQ(_trajectories[i].getCurrentPosition(), 0.f);
+		EXPECT_FLOAT_EQ(_trajectories[i].getCurrentJerk(), 0.f);
+		EXPECT_FLOAT_EQ(_trajectories[i].getCurrentAcceleration(), 0.f);
+		EXPECT_FLOAT_EQ(_trajectories[i].getCurrentVelocity(), 0.f);
+		EXPECT_FLOAT_EQ(_trajectories[i].getCurrentPosition(), 0.f);
 	}
 }

src/lib/parameters/ParameterTest.cpp

@@ -59,7 +59,7 @@ TEST_F(ParameterTest, testParamReadWrite)
 
 	// THEN it should be successful and have the default value
 	EXPECT_EQ(0, status);
-	EXPECT_EQ(-1, value);
+	EXPECT_FLOAT_EQ(-1.f, value);
 
 	// WHEN: we set the parameter
 	value = 42.f;
@@ -74,7 +74,7 @@ TEST_F(ParameterTest, testParamReadWrite)
 
 	// THEN: it should be exactly the value we set
 	EXPECT_EQ(0, status);
-	EXPECT_EQ(42.f, value2);
+	EXPECT_FLOAT_EQ(42.f, value2);
 }
 
 
@@ -99,8 +99,8 @@ TEST_F(ParameterTest, testUorbSendReceive)
 
 	// AND: the values we got should be the same
 	EXPECT_EQ(message.timestamp, obstacle_distance.timestamp);
-	EXPECT_EQ(message.min_distance, obstacle_distance.min_distance);
-	EXPECT_EQ(message.max_distance, obstacle_distance.max_distance);
+	EXPECT_FLOAT_EQ(message.min_distance, obstacle_distance.min_distance);
+	EXPECT_FLOAT_EQ(message.max_distance, obstacle_distance.max_distance);
 
 	// AND: all the bytes should be equal
 	EXPECT_EQ(0, memcmp(&message, &obstacle_distance, sizeof(message)));