diff --git a/src/modules/ekf2/test/sensor_simulator/sensor_simulator.cpp b/src/modules/ekf2/test/sensor_simulator/sensor_simulator.cpp
index 346a32e7c7..86d7379850 100644
--- a/src/modules/ekf2/test/sensor_simulator/sensor_simulator.cpp
+++ b/src/modules/ekf2/test/sensor_simulator/sensor_simulator.cpp
@@ -17,11 +17,6 @@ SensorSimulator::SensorSimulator(std::shared_ptr<Ekf> ekf):
 	startBasicSensor();
 }
 
-SensorSimulator::~SensorSimulator()
-{
-
-}
-
 void SensorSimulator::loadSensorDataFromFile(std::string file_name)
 {
 	std::ifstream file(file_name);
@@ -281,7 +276,7 @@ void SensorSimulator::setSingleReplaySample(const sensor_info &sample)
 		// _vio.setData((float) sample.sensor_data[0], (float) sample.sensor_data[1]);
 
 	} else if (sample.sensor_type == sensor_info::LANDING_STATUS) {
-		bool landed = fabsf(sample.sensor_data[0]) <= 0.f;
+		bool landed = std::abs(sample.sensor_data[0]) <= 0;
 		_ekf->set_in_air_status(!landed);
 
 	} else {
diff --git a/src/modules/ekf2/test/sensor_simulator/sensor_simulator.h b/src/modules/ekf2/test/sensor_simulator/sensor_simulator.h
index c3e2ee00f1..aaf6cb65e2 100644
--- a/src/modules/ekf2/test/sensor_simulator/sensor_simulator.h
+++ b/src/modules/ekf2/test/sensor_simulator/sensor_simulator.h
@@ -73,7 +73,7 @@ class SensorSimulator
 
 public:
 	SensorSimulator(std::shared_ptr<Ekf> ekf);
-	~SensorSimulator();
+	~SensorSimulator() = default;
 
 	uint64_t getTime() const { return _time; };
 
diff --git a/src/modules/ekf2/test/test_EKF_initialization.cpp b/src/modules/ekf2/test/test_EKF_initialization.cpp
index 05f41606fb..0758bc96cb 100644
--- a/src/modules/ekf2/test/test_EKF_initialization.cpp
+++ b/src/modules/ekf2/test/test_EKF_initialization.cpp
@@ -188,11 +188,13 @@ TEST_F(EkfInitializationTest, gyroBias)
 				printf("%d|  ", i);
 
 				for (uint8_t j = 0; j <= 15; j++) {
-					double corr = sqrt(abs(P(i, i) * P(j, j)));
+					float corr = sqrtf(fabsf(P(i, i) * P(j, j)));
 
-					if (corr > 0.0) { corr = double(abs(P(i, j))) / corr; }
+					if (corr > 0.0f) {
+						corr = fabsf(P(i, j)) / corr;
+					}
 
-					printf("%.3f\t", corr);
+					printf("%.3f\t", (double)corr);
 				}
 
 				printf("\n");