Fix the unit tests for mod after Mahony

[ETSells]

Description

Adds requirements to mahony and fixes the sensor test.

ALSO MAKES ONE CHANGE TO SENSOR AND MAIN. The init routine disagreed with our architecture and hazard analysis on the library, so I have updated it for compliance.

Issue Link

Children:

• Update GPS test to provide coverage on an invalid message type driver#57
• Update unit tests Flight-Computer-Firmware#340

Testing

• Passes existing automated tests
• Automated tests modified
• Manual test performed

Include any relevant test artifacts here.

AI Disclosure (Required)

• Was an AI agent used to synthesize a significant portion of the submitted code?
• Do you understand that you are responsible for your contributions, regardless of whether they are generated or hand-written?

Scope of AI assistance:

Used to fix a test case in sensor.

Please consider disclosing the specific tools you used (this part is optional):

• Model: GPT 5.6 Luna
  • Thinking Level (if applicable):
  • Context Size (if applicable):
• Harness: Github Copilot

Other

N/A

Reviewer Checklist

Standards

• Follows FCF Architectural Standards
• Follows SDR Coding Standards
• Code complexity/function Size is minimized
• Code is testable
• Code is readable and commented properly
• License terms are respected

Accuracy

• Code implements the correct requirement (a.k.a. does the right thing)
• Code is logically correct (a.k.a. does the thing right)

Error Handling

• Potentially unsafe functions return a status code
• Error returns properly handled
• Fail-fast errors are only thrown when unsafe to continue software execution
• Debug errors are thrown for exceptions where execution should still continue (to be noticed during development)

Memory

• Stack allocated memory is scoped correctly
• Heap allocated memory is not used
• Statically/Globally allocated memory is minimized except when necessary
• Pointers are used correctly
• Concurrent access has been considered (especially by/from interrupt service routines)

Performance

• Rate limiters are respected
• Busy waiting is avoided in performance sensitive code
• "Delay" calls are not used in performance sensitive code
• If performance is negatively impacted, a justification is provided and the impact is quantified

[NArmistead]

bro beat me to it

[ETSells]

krill issue

[NArmistead]

its quite shrimple actually.