ekf2: fix timeout after gps failure (#23346)

src/modules/ekf2/EKF/aid_sources/gnss/gps_control.cpp

@@ -63,7 +63,8 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
 	if (_gps_data_ready) {
 		const gnssSample &gnss_sample = _gps_sample_delayed;
 
-		if (runGnssChecks(gnss_sample) && isTimedOut(_last_gps_fail_us, (uint64_t)_min_gps_health_time_us / 2)) {
+		if (runGnssChecks(gnss_sample)
+		    && isTimedOut(_last_gps_fail_us, max((uint64_t)1e6, (uint64_t)_min_gps_health_time_us / 10))) {
 			if (isTimedOut(_last_gps_fail_us, (uint64_t)_min_gps_health_time_us)) {
 				// First time checks are passing, latching.
 				_gps_checks_passed = true;

src/modules/ekf2/test/test_EKF_gps.cpp

@@ -136,7 +136,7 @@ TEST_F(EkfGpsTest, resetToGpsVelocity)
 
 	_ekf->set_in_air_status(true);
 	_ekf->set_vehicle_at_rest(false);
-	_sensor_simulator.runSeconds(5.2); // required to pass the checks
+	_sensor_simulator.runSeconds(1.2); // 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_mag.cpp

@@ -68,6 +68,7 @@ public:
 
 TEST_F(EkfMagTest, fusionStartWithReset)
 {
+	_ekf->set_min_required_gps_health_time(5e6);
 	// GIVEN: some meaningful mag data
 	const float mag_heading = M_PI_F / 3.f;
 	const float incl = 63.1f;
@@ -84,11 +85,10 @@ TEST_F(EkfMagTest, fusionStartWithReset)
 	EXPECT_FALSE(_ekf_wrapper.isIntendingMag3DFusion());
 
 	EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 1);
-
 	// AND WHEN: GNSS fusion starts
 	_ekf_wrapper.enableGpsFusion();
 	_sensor_simulator.startGps();
-	_sensor_simulator.runSeconds(11);
+	_sensor_simulator.runSeconds(6);
 
 	// THEN: the earth mag field is reset to the WMM
 	EXPECT_EQ(_ekf_wrapper.getQuaternionResetCounter(), initial_quat_reset_counter + 2);