diff --git a/tests/test_alert_manager.cpp b/tests/test_alert_manager.cpp
index 5bc247a..58ddac3 100644
--- a/tests/test_alert_manager.cpp
+++ b/tests/test_alert_manager.cpp
@@ -1,267 +1,430 @@
-#include "gtest/gtest.h"
+#include <gtest/gtest.h>
 #include "alert_manager.hpp"
-#include <vector>
-#include <string>
+#include <sstream>
+#include <iostream>
 
-// Mock for time to ensure deterministic tests
-static uint32_t mock_timestamp = 1640995200; // 2022-01-01 00:00:00 UTC
-
-class MockTime { 
+// 辅助类：用于捕获标准输出和标准错误输出
+class StreamCapture {
 public:
-    static uint32_t getTimestamp() { return mock_timestamp; }
-    static void setTimestamp(uint32_t t) { mock_timestamp = t; }
+    StreamCapture() : old_cout_(std::cout.rdbuf()), old_cerr_(std::cerr.rdbuf()) {
+        std::cout.rdbuf(ss_cout_.rdbuf());
+        std::cerr.rdbuf(ss_cerr_.rdbuf());
+    }
+    
+    ~StreamCapture() {
+        std::cout.rdbuf(old_cout_);
+        std::cerr.rdbuf(old_cerr_);
+    }
+    
+    std::string getCout() const { return ss_cout_.str(); }
+    std::string getCerr() const { return ss_cerr_.str(); }
+    
+private:
+    std::stringstream ss_cout_;
+    std::stringstream ss_cerr_;
+    std::streambuf* old_cout_;
+    std::streambuf* old_cerr_;
 };
 
-// Helper function to compare AlertInfo
-bool operator==(const AlertInfo& a, const AlertInfo& b) {
-    return a.type == b.type &&
-           a.status == b.status &&
-           a.trigger_time == b.trigger_time &&
-           a.acknowledge_time == b.acknowledge_time &&
-           a.resolve_time == b.resolve_time &&
-           a.description == b.description;
-}
-
-// Test fixture
+// 测试夹具：为每个测试用例创建独立的 AlertManager 实例
 class AlertManagerTest : public ::testing::Test {
 protected:
-    AlertManager manager;
-
     void SetUp() override {
-        mock_timestamp = 1640995200;
         manager.initialize();
     }
-
+    
     void TearDown() override {
-        manager.clearHistory();
+        manager.resetAllAlerts();
     }
+    
+    AlertManager manager;
 };
 
-TEST_F(AlertManagerTest, testAlertManagerDefaultInitialization) {
-    EXPECT_FLOAT_EQ(manager.getAltitudeThresholds().first, 100.0f);
-    EXPECT_FLOAT_EQ(manager.getAltitudeThresholds().second, -50.0f);
-    EXPECT_TRUE(manager.getActiveAlerts().empty());
-    EXPECT_TRUE(manager.getAlertHistory(10).empty());
-}
+// ==================== checkAltitudeAlert 测试 ====================
 
-TEST_F(AlertManagerTest, testInitialize) {
-    // No direct output assertion, but verify initialization logic
-    // This is tested implicitly via constructor
-    EXPECT_NO_FATAL_FAILURE(manager.initialize());
-}
-
-TEST_F(AlertManagerTest, testCheckAltitudeAlertNormal) {
-    mock_timestamp = 1640995200;
-    manager.checkAltitudeAlert(105.0f, mock_timestamp);
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_EQ(alerts.size(), 1);
-    EXPECT_EQ(alerts[0].type, AlertType::ALTITUDE_UPPER);
-    EXPECT_EQ(alerts[0].status, AlertStatus::ACTIVE);
-    EXPECT_EQ(alerts[0].trigger_time, mock_timestamp);
-}
-
-TEST_F(AlertManagerTest, testCheckAltitudeAlertBelowLower) {
-    mock_timestamp = 1640995200;
-    manager.checkAltitudeAlert(-55.0f, mock_timestamp);
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_EQ(alerts.size(), 1);
-    EXPECT_EQ(alerts[0].type, AlertType::ALTITUDE_LOWER);
-    EXPECT_EQ(alerts[0].status, AlertStatus::ACTIVE);
-}
-
-TEST_F(AlertManagerTest, testCheckAltitudeAlertResetWhenNormal) {
-    mock_timestamp = 1640995200;
-    manager.checkAltitudeAlert(105.0f, mock_timestamp); // Trigger upper
-    mock_timestamp = 1640995201;
-    manager.checkAltitudeAlert(90.0f, mock_timestamp); // Reset
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_TRUE(alerts.empty());
-}
-
-TEST_F(AlertManagerTest, testSetAltitudeThresholdsValid) {
-    manager.setAltitudeThresholds(200.0f, -100.0f);
-    auto thresholds = manager.getAltitudeThresholds();
-    EXPECT_FLOAT_EQ(thresholds.first, 200.0f);
-    EXPECT_FLOAT_EQ(thresholds.second, -100.0f);
-}
-
-TEST_F(AlertManagerTest, testSetAltitudeThresholdsInvalid) {
-    EXPECT_NO_FATAL_FAILURE(manager.setAltitudeThresholds(50.0f, 100.0f));
-    // Should print error, but no crash
-    EXPECT_FLOAT_EQ(manager.getAltitudeThresholds().first, 100.0f);
-    EXPECT_FLOAT_EQ(manager.getAltitudeThresholds().second, -50.0f);
-}
-
-TEST_F(AlertManagerTest, testTriggerSensorFailure) {
-    mock_timestamp = 1640995200;
-    manager.triggerSensorFailure(mock_timestamp);
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_EQ(alerts.size(), 1);
-    EXPECT_EQ(alerts[0].type, AlertType::SENSOR_FAILURE);
-    EXPECT_EQ(alerts[0].status, AlertStatus::ACTIVE);
-    EXPECT_EQ(alerts[0].trigger_time, mock_timestamp);
-}
-
-TEST_F(AlertManagerTest, testTriggerLowBattery) {
-    mock_timestamp = 1640995200;
-    manager.triggerLowBattery(mock_timestamp, 15.0f);
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_EQ(alerts.size(), 1);
-    EXPECT_EQ(alerts[0].type, AlertType::LOW_BATTERY);
-    EXPECT_EQ(alerts[0].status, AlertStatus::ACTIVE);
-    EXPECT_NE(alerts[0].description.find("15.0%"), std::string::npos);
-}
-
-TEST_F(AlertManagerTest, testTriggerCommunicationError) {
-    mock_timestamp = 1640995200;
-    manager.triggerCommunicationError(mock_timestamp);
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_EQ(alerts.size(), 1);
-    EXPECT_EQ(alerts[0].type, AlertType::COMMUNICATION_ERROR);
-    EXPECT_EQ(alerts[0].status, AlertStatus::ACTIVE);
-}
-
-TEST_F(AlertManagerTest, testAcknowledgeAllAlerts) {
-    mock_timestamp = 1640995200;
-    manager.triggerSensorFailure(mock_timestamp);
-    manager.triggerLowBattery(mock_timestamp + 1, 10.0f);
-    mock_timestamp = 1640995202;
-    manager.acknowledgeAllAlerts(mock_timestamp);
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_TRUE(alerts.empty());
-    EXPECT_EQ(alerts.size(), 0);
-}
-
-TEST_F(AlertManagerTest, testAcknowledgeAlert) {
-    mock_timestamp = 1640995200;
-    manager.triggerSensorFailure(mock_timestamp);
-    mock_timestamp = 1640995201;
-    manager.acknowledgeAlert(AlertType::SENSOR_FAILURE, mock_timestamp);
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_TRUE(alerts.empty());
-}
-
-TEST_F(AlertManagerTest, testResetAlert) {
-    mock_timestamp = 1640995200;
-    manager.triggerSensorFailure(mock_timestamp);
-    manager.resetAlert(AlertType::SENSOR_FAILURE);
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_TRUE(alerts.empty());
-}
-
-TEST_F(AlertManagerTest, testResetAllAlerts) {
-    mock_timestamp = 1640995200;
-    manager.triggerSensorFailure(mock_timestamp);
-    manager.triggerLowBattery(mock_timestamp + 1, 10.0f);
-    manager.resetAllAlerts();
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_TRUE(alerts.empty());
-}
-
-TEST_F(AlertManagerTest, testHasActiveAlerts) {
+// 正常输入测试：高度在阈值范围内，不应触发任何预警
+TEST_F(AlertManagerTest, testCheckAltitudeAlertNormalRange) {
+    StreamCapture capture;
+    
+    // 默认阈值：上限100.0，下限-50.0
+    // 测试正常高度 50.0
+    manager.checkAltitudeAlert(50.0f, 1000);
+    
     EXPECT_FALSE(manager.hasActiveAlerts());
-    mock_timestamp = 1640995200;
-    manager.triggerSensorFailure(mock_timestamp);
+    EXPECT_FALSE(manager.hasUnacknowledgedAlerts());
+    
+    // 测试接近上限但未超过
+    manager.checkAltitudeAlert(99.9f, 1001);
+    EXPECT_FALSE(manager.hasActiveAlerts());
+    
+    // 测试接近下限但未低于
+    manager.checkAltitudeAlert(-49.9f, 1002);
+    EXPECT_FALSE(manager.hasActiveAlerts());
+}
+
+// 边界值测试：高度刚好等于阈值，不应触发预警
+TEST_F(AlertManagerTest, testCheckAltitudeAlertAtThreshold) {
+    StreamCapture capture;
+    
+    // 测试高度等于上限
+    manager.checkAltitudeAlert(100.0f, 2000);
+    EXPECT_FALSE(manager.hasActiveAlerts());
+    
+    // 测试高度等于下限
+    manager.checkAltitudeAlert(-50.0f, 2001);
+    EXPECT_FALSE(manager.hasActiveAlerts());
+}
+
+// 边界值测试：高度超过上限，应触发 ALTITUDE_UPPER 预警
+TEST_F(AlertManagerTest, testCheckAltitudeAlertExceedsUpper) {
+    StreamCapture capture;
+    
+    // 高度超过上限
+    manager.checkAltitudeAlert(150.0f, 3000);
+    
+    EXPECT_TRUE(manager.hasActiveAlerts());
+    EXPECT_TRUE(manager.hasUnacknowledgedAlerts());
+    
+    auto activeAlerts = manager.getActiveAlerts();
+    ASSERT_EQ(1, activeAlerts.size());
+    EXPECT_EQ(AlertType::ALTITUDE_UPPER, activeAlerts[0].type);
+    EXPECT_EQ(AlertStatus::ACTIVE, activeAlerts[0].status);
+    EXPECT_EQ(3000, activeAlerts[0].trigger_time);
+    
+    // 验证输出包含预警信息
+    std::string coutOutput = capture.getCout();
+    EXPECT_NE(std::string::npos, coutOutput.find("高度上限预警"));
+    EXPECT_NE(std::string::npos, coutOutput.find("150"));
+}
+
+// 边界值测试：高度低于下限，应触发 ALTITUDE_LOWER 预警
+TEST_F(AlertManagerTest, testCheckAltitudeAlertBelowLower) {
+    StreamCapture capture;
+    
+    // 高度低于下限
+    manager.checkAltitudeAlert(-100.0f, 4000);
+    
+    EXPECT_TRUE(manager.hasActiveAlerts());
+    EXPECT_TRUE(manager.hasUnacknowledgedAlerts());
+    
+    auto activeAlerts = manager.getActiveAlerts();
+    ASSERT_EQ(1, activeAlerts.size());
+    EXPECT_EQ(AlertType::ALTITUDE_LOWER, activeAlerts[0].type);
+    EXPECT_EQ(AlertStatus::ACTIVE, activeAlerts[0].status);
+    EXPECT_EQ(4000, activeAlerts[0].trigger_time);
+    
+    // 验证输出包含预警信息
+    std::string coutOutput = capture.getCout();
+    EXPECT_NE(std::string::npos, coutOutput.find("高度下限预警"));
+    EXPECT_NE(std::string::npos, coutOutput.find("-100"));
+}
+
+// 特殊场景测试：高度超过上限后恢复正常，预警应解除
+TEST_F(AlertManagerTest, testCheckAltitudeAlertUpperResolved) {
+    StreamCapture capture;
+    
+    // 先触发上限预警
+    manager.checkAltitudeAlert(150.0f, 5000);
+    EXPECT_TRUE(manager.hasActiveAlerts());
+    
+    // 高度恢复正常
+    manager.checkAltitudeAlert(80.0f, 5001);
+    
+    // 预警应被解决
+    EXPECT_FALSE(manager.hasActiveAlerts());
+    EXPECT_FALSE(manager.hasUnacknowledgedAlerts());
+    
+    // 验证历史记录中存在已解决的预警
+    auto history = manager.getAlertHistory(10);
+    bool foundResolved = false;
+    for (const auto& alert : history) {
+        if (alert.type == AlertType::ALTITUDE_UPPER && 
+            alert.status == AlertStatus::RESOLVED) {
+            foundResolved = true;
+            break;
+        }
+    }
+    EXPECT_TRUE(foundResolved);
+}
+
+// 特殊场景测试：高度低于下限后恢复正常，预警应解除
+TEST_F(AlertManagerTest, testCheckAltitudeAlertLowerResolved) {
+    StreamCapture capture;
+    
+    // 先触发下限预警
+    manager.checkAltitudeAlert(-100.0f, 6000);
+    EXPECT_TRUE(manager.hasActiveAlerts());
+    
+    // 高度恢复正常
+    manager.checkAltitudeAlert(0.0f, 6001);
+    
+    // 预警应被解决
+    EXPECT_FALSE(manager.hasActiveAlerts());
+    EXPECT_FALSE(manager.hasUnacknowledgedAlerts());
+    
+    // 验证历史记录
+    auto history = manager.getAlertHistory(10);
+    bool foundResolved = false;
+    for (const auto& alert : history) {
+        if (alert.type == AlertType::ALTITUDE_LOWER && 
+            alert.status == AlertStatus::RESOLVED) {
+            foundResolved = true;
+            break;
+        }
+    }
+    EXPECT_TRUE(foundResolved);
+}
+
+// 特殊场景测试：同时超过上下限（理论上不可能，但测试逻辑完整性）
+TEST_F(AlertManagerTest, testCheckAltitudeAlertBothThresholds) {
+    StreamCapture capture;
+    
+    // 修改阈值使上下限重叠（通过 setAltitudeThresholds 会校验，这里直接测试逻辑）
+    // 注意：此测试仅验证 checkAltitudeAlert 的逻辑，不依赖阈值设置
+    
+    // 先触发上限预警
+    manager.checkAltitudeAlert(150.0f, 7000);
+    EXPECT_TRUE(manager.hasActiveAlerts());
+    
+    // 再触发下限预警（此时高度低于下限）
+    manager.checkAltitudeAlert(-100.0f, 7001);
+    
+    // 应有 2 个活动预警
+    auto activeAlerts = manager.getActiveAlerts();
+    EXPECT_EQ(2, activeAlerts.size());
+}
+
+// 异常输入测试：高度为 NaN（如果支持）
+TEST_F(AlertManagerTest, testCheckAltitudeAlertNaN) {
+    StreamCapture capture;
+    
+    // 使用 NaN 值（如果编译器支持）
+    float nanValue = std::numeric_limits<float>::quiet_NaN();
+    
+    // NaN 与任何值的比较结果都是 false，因此不会触发预警
+    manager.checkAltitudeAlert(nanValue, 8000);
+    
+    // 不应触发任何预警
+    EXPECT_FALSE(manager.hasActiveAlerts());
+}
+
+// 异常输入测试：高度为无穷大
+TEST_F(AlertManagerTest, testCheckAltitudeAlertInfinity) {
+    StreamCapture capture;
+    
+    float infValue = std::numeric_limits<float>::infinity();
+    
+    // 正无穷应触发上限预警
+    manager.checkAltitudeAlert(infValue, 9000);
+    EXPECT_TRUE(manager.hasActiveAlerts());
+    
+    auto activeAlerts = manager.getActiveAlerts();
+    ASSERT_EQ(1, activeAlerts.size());
+    EXPECT_EQ(AlertType::ALTITUDE_UPPER, activeAlerts[0].type);
+}
+
+// 异常输入测试：高度为负无穷
+TEST_F(AlertManagerTest, testCheckAltitudeAlertNegativeInfinity) {
+    StreamCapture capture;
+    
+    float negInfValue = -std::numeric_limits<float>::infinity();
+    
+    // 负无穷应触下限预警
+    manager.checkAltitudeAlert(negInfValue, 10000);
+    EXPECT_TRUE(manager.hasActiveAlerts());
+    
+    auto activeAlerts = manager.getActiveAlerts();
+    ASSERT_EQ(1, activeAlerts.size());
+    EXPECT_EQ(AlertType::ALTITUDE_LOWER, activeAlerts[0].type);
+}
+
+// 特殊场景测试：时间戳为 0
+TEST_F(AlertManagerTest, testCheckAltitudeAlertTimestampZero) {
+    StreamCapture capture;
+    
+    // 时间戳为 0 不应影响预警逻辑
+    manager.checkAltitudeAlert(150.0f, 0);
+    EXPECT_TRUE(manager.hasActiveAlerts());
+    
+    auto activeAlerts = manager.getActiveAlerts();
+    ASSERT_EQ(1, activeAlerts.size());
+    EXPECT_EQ(0, activeAlerts[0].trigger_time);
+}
+
+// 特殊场景测试：连续多次触发同一预警，不应重复触发
+TEST_F(AlertManagerTest, testCheckAltitudeAlertDuplicateTrigger) {
+    StreamCapture capture;
+    
+    // 第一次触发
+    manager.checkAltitudeAlert(150.0f, 11000);
+    EXPECT_TRUE(manager.hasActiveAlerts());
+    
+    // 第二次触发（高度仍然超过上限）
+    manager.checkAltitudeAlert(200.0f, 11001);
+    
+    // 应仍只有 1 个活动预警
+    auto activeAlerts = manager.getActiveAlerts();
+    ASSERT_EQ(1, activeAlerts.size());
+    
+    // 验证历史记录中只有 1 次触发
+    auto history = manager.getAlertHistory(10);
+    int triggerCount = 0;
+    for (const auto& alert : history) {
+        if (alert.type == AlertType::ALTITUDE_UPPER && 
+            alert.status == AlertStatus::ACTIVE) {
+            triggerCount++;
+        }
+    }
+    EXPECT_EQ(1, triggerCount);
+}
+
+// ==================== setAltitudeThresholds 测试 ====================
+
+// 正常输入测试：设置有效的上下限阈值
+TEST_F(AlertManagerTest, testSetAltitudeThresholdsValid) {
+    StreamCapture capture;
+    
+    manager.setAltitudeThresholds(200.0f, -100.0f);
+    
+    // 验证输出
+    std::string coutOutput = capture.getCout();
+    EXPECT_NE(std::string::npos, coutOutput.find("预警阈值已更新"));
+    EXPECT_NE(std::string::npos, coutOutput.find("200"));
+    EXPECT_NE(std::string::npos, coutOutput.find("-100"));
+    
+    // 验证新阈值生效
+    manager.checkAltitudeAlert(150.0f, 12000);
+    EXPECT_FALSE(manager.hasActiveAlerts());
+    
+    manager.checkAltitudeAlert(250.0f, 12001);
     EXPECT_TRUE(manager.hasActiveAlerts());
 }
 
-TEST_F(AlertManagerTest, testHasUnacknowledgedAlerts) {
-    EXPECT_FALSE(manager.hasUnacknowledgedAlerts());
-    mock_timestamp = 1640995200;
-    manager.triggerSensorFailure(mock_timestamp);
-    EXPECT_TRUE(manager.hasUnacknowledgedAlerts());
-    manager.acknowledgeAllAlerts(mock_timestamp + 1);
-    EXPECT_FALSE(manager.hasUnacknowledgedAlerts());
+// 边界值测试：设置上限等于下限（非法）
+TEST_F(AlertManagerTest, testSetAltitudeThresholdsEqual) {
+    StreamCapture capture;
+    
+    manager.setAltitudeThresholds(100.0f, 100.0f);
+    
+    // 验证错误输出
+    std::string cerrOutput = capture.getCerr();
+    EXPECT_NE(std::string::npos, cerrOutput.find("上限阈值必须大于下限阈值"));
+    
+    // 验证阈值未改变
+    manager.checkAltitudeAlert(150.0f, 13000);
+    EXPECT_TRUE(manager.hasActiveAlerts());
 }
 
-TEST_F(AlertManagerTest, testGetActiveAlerts) {
-    mock_timestamp = 1640995200;
-    manager.triggerSensorFailure(mock_timestamp);
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_EQ(alerts.size(), 1);
-    EXPECT_EQ(alerts[0].type, AlertType::SENSOR_FAILURE);
+// 异常输入测试：设置上限小于下限（非法）
+TEST_F(AlertManagerTest, testSetAltitudeThresholdsUpperLessThanLower) {
+    StreamCapture capture;
+    
+    manager.setAltitudeThresholds(-50.0f, 100.0f);
+    
+    // 验证错误输出
+    std::string cerrOutput = capture.getCerr();
+    EXPECT_NE(std::string::npos, cerrOutput.find("上限阈值必须大于下限阈值"));
+    
+    // 验证阈值未改变
+    manager.checkAltitudeAlert(150.0f, 14000);
+    EXPECT_TRUE(manager.hasActiveAlerts());
 }
 
-TEST_F(AlertManagerTest, testGetAlertHistoryMaxCount) {
-    mock_timestamp = 1640995200;
-    for (int i = 0; i < 15; ++i) {
-        manager.triggerSensorFailure(mock_timestamp + i);
-    }
+// 边界值测试：设置非常大的阈值范围
+TEST_F(AlertManagerTest, testSetAltitudeThresholdsLargeRange) {
+    StreamCapture capture;
+    
+    float largeUpper = 1000000.0f;
+    float largeLower = -1000000.0f;
+    
+    manager.setAltitudeThresholds(largeUpper, largeLower);
+    
+    // 验证阈值设置成功
+    manager.checkAltitudeAlert(500000.0f, 15000);
+    EXPECT_FALSE(manager.hasActiveAlerts());
+    
+    manager.checkAltitudeAlert(2000000.0f, 15001);
+    EXPECT_TRUE(manager.hasActiveAlerts());
+}
+
+// 边界值测试：设置非常小的阈值范围
+TEST_F(AlertManagerTest, testSetAltitudeThresholdsSmallRange) {
+    StreamCapture capture;
+    
+    float smallUpper = 0.001f;
+    float smallLower = -0.001f;
+    
+    manager.setAltitudeThresholds(smallUpper, smallLower);
+    
+    // 验证阈值设置成功
+    manager.checkAltitudeAlert(0.0005f, 16000);
+    EXPECT_FALSE(manager.hasActiveAlerts());
+    
+    manager.checkAltitudeAlert(0.002f, 16001);
+    EXPECT_TRUE(manager.hasActiveAlerts());
+}
+
+// 特殊场景测试：设置阈值后，原有的活动预警应被重置
+TEST_F(AlertManagerTest, testSetAltitudeThresholdsResetsAlerts) {
+    StreamCapture capture;
+    
+    // 先触发一个预警
+    manager.checkAltitudeAlert(150.0f, 17000);
+    EXPECT_TRUE(manager.hasActiveAlerts());
+    
+    // 修改阈值
+    manager.setAltitudeThresholds(200.0f, -100.0f);
+    
+    // 原有的预警应被重置（解决）
+    EXPECT_FALSE(manager.hasActiveAlerts());
+    
+    // 验证历史记录中存在已解决的预警
     auto history = manager.getAlertHistory(10);
-    EXPECT_EQ(history.size(), 10);
-}
-
-TEST_F(AlertManagerTest, testGetStatusDescriptionNoAlerts) {
-    std::string desc = manager.getStatusDescription();
-    EXPECT_EQ(desc, "系统状态：正常");
-}
-
-TEST_F(AlertManagerTest, testGetStatusDescriptionWithAlerts) {
-    mock_timestamp = 1640995200;
-    manager.triggerSensorFailure(mock_timestamp);
-    std::string desc = manager.getStatusDescription();
-    EXPECT_NE(desc.find("有1个活动预警"), std::string::npos);
-    EXPECT_NE(desc.find("传感器故障"), std::string::npos);
-}
-
-TEST_F(AlertManagerTest, testClearHistory) {
-    mock_timestamp = 1640995200;
-    manager.triggerSensorFailure(mock_timestamp);
-    manager.clearHistory();
-    EXPECT_TRUE(manager.getAlertHistory(10).empty());
-}
-
-TEST_F(AlertManagerTest, testAddToHistoryLimit) {
-    mock_timestamp = 1640995200;
-    for (int i = 0; i < 100; ++i) {
-        manager.triggerSensorFailure(mock_timestamp + i);
+    bool foundResolved = false;
+    for (const auto& alert : history) {
+        if (alert.type == AlertType::ALTITUDE_UPPER && 
+            alert.status == AlertStatus::RESOLVED) {
+            foundResolved = true;
+            break;
+        }
     }
-    auto history = manager.getAlertHistory(10);
-    EXPECT_EQ(history.size(), 10);
+    EXPECT_TRUE(foundResolved);
 }
 
-TEST_F(AlertManagerTest, testTriggerAlert) {
-    mock_timestamp = 1640995200;
-    manager.triggerAlert(AlertType::SENSOR_FAILURE, mock_timestamp, "Test alert");
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_EQ(alerts.size(), 1);
-    EXPECT_EQ(alerts[0].description, "Test alert");
+// 特殊场景测试：连续设置阈值，验证状态一致性
+TEST_F(AlertManagerTest, testSetAltitudeThresholdsMultipleTimes) {
+    StreamCapture capture;
+    
+    // 第一次设置
+    manager.setAltitudeThresholds(200.0f, -100.0f);
+    
+    // 触发预警
+    manager.checkAltitudeAlert(250.0f, 18000);
+    EXPECT_TRUE(manager.hasActiveAlerts());
+    
+    // 第二次设置
+    manager.setAltitudeThresholds(300.0f, -200.0f);
+    
+    // 原有预警被重置
+    EXPECT_FALSE(manager.hasActiveAlerts());
+    
+    // 新阈值下，原来的高度不再触发预警
+    manager.checkAltitudeAlert(250.0f, 18001);
+    EXPECT_FALSE(manager.hasActiveAlerts());
 }
 
-TEST_F(AlertManagerTest, testUpdateAlertStatusAcknowledged) {
-    mock_timestamp = 1640995200;
-    manager.triggerSensorFailure(mock_timestamp);
-    mock_timestamp = 1640995201;
-    manager.updateAlertStatus(AlertType::SENSOR_FAILURE, AlertStatus::ACKNOWLEDGED, mock_timestamp);
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_TRUE(alerts.empty());
+// 特殊场景测试：设置阈值后立即检查高度
+TEST_F(AlertManagerTest, testSetAltitudeThresholdsImmediateCheck) {
+    StreamCapture capture;
+    
+    // 设置新阈值
+    manager.setAltitudeThresholds(50.0f, -10.0f);
+    
+    // 立即检查高度，应触发预警
+    manager.checkAltitudeAlert(60.0f, 19000);
+    EXPECT_TRUE(manager.hasActiveAlerts());
+    
+    auto activeAlerts = manager.getActiveAlerts();
+    ASSERT_EQ(1, activeAlerts.size());
+    EXPECT_EQ(AlertType::ALTITUDE_UPPER, activeAlerts[0].type);
 }
-
-TEST_F(AlertManagerTest, testUpdateAlertStatusResolved) {
-    mock_timestamp = 1640995200;
-    manager.triggerSensorFailure(mock_timestamp);
-    mock_timestamp = 1640995201;
-    manager.updateAlertStatus(AlertType::SENSOR_FAILURE, AlertStatus::RESOLVED, mock_timestamp);
-    auto alerts = manager.getActiveAlerts();
-    EXPECT_TRUE(alerts.empty());
-}
-
-TEST_F(AlertManagerTest, testGetAlertTypeName) {
-    EXPECT_EQ(manager.getAlertTypeName(AlertType::ALTITUDE_UPPER), "高度上限预警");
-    EXPECT_EQ(manager.getAlertTypeName(AlertType::NONE), "无");
-    EXPECT_EQ(manager.getAlertTypeName(static_cast<AlertType>(99)), "未知预警");
-}
-
-TEST_F(AlertManagerTest, testGetAlertStatusName) {
-    EXPECT_EQ(manager.getAlertStatusName(AlertStatus::ACTIVE), "预警中");
-    EXPECT_EQ(manager.getAlertStatusName(AlertStatus::INACTIVE), "未激活");
-    EXPECT_EQ(manager.getAlertStatusName(static_cast<AlertStatus>(99)), "未知状态");
-}
-
-TEST_F(AlertManagerTest, testDestructorDoesNotCrash) {
-    // Verify destructor doesn't throw or crash
-    EXPECT_NO_FATAL_FAILURE({
-        AlertManager* mgr = new AlertManager();
-        delete mgr;
-    });
-}
\ No newline at end of file