test: debug MHE arrival covariance fallback test

franckgaga · franckgaga · commit 2c68523b1f34 · 2026-06-13T15:20:31.000-04:00
diff --git a/test/2_test_state_estim.jl b/test/2_test_state_estim.jl
@@ -1192,7 +1192,7 @@ end
     @test mhe.cov.invP̄ ≈ invP̄_copy
     @test_logs(
         (:error, "Arrival covariance P̄ is not invertible: keeping the old one"), 
-        ModelPredictiveControl.invert_cov!(mhe, Hermitian(zeros(mhe.nx̂, mhe.nx̂),:L))
+        ModelPredictiveControl.invert_cov!(mhe, mhe.covestim)
     )
     mhe.P̂arr_old[1, 1] = Inf # Inf to trigger fallback
     P̂arr_old_copy = deepcopy(mhe.P̂arr_old)

Original file line number	Diff line number	Diff line change
`@@ -1192,7 +1192,7 @@ end`
`1192`	`1192`	`@test mhe.cov.invP̄ ≈ invP̄_copy`
`1193`	`1193`	`@test_logs(`
`1194`	`1194`	`(:error, "Arrival covariance P̄ is not invertible: keeping the old one"),`
`1195`		`- ModelPredictiveControl.invert_cov!(mhe, Hermitian(zeros(mhe.nx̂, mhe.nx̂),:L))`
	`1195`	`+ ModelPredictiveControl.invert_cov!(mhe, mhe.covestim)`
`1196`	`1196`	`)`
`1197`	`1197`	`mhe.P̂arr_old[1, 1] = Inf # Inf to trigger fallback`
`1198`	`1198`	`P̂arr_old_copy = deepcopy(mhe.P̂arr_old)`