diff --git a/unit_tests/tests/test_pwm_generator.cpp b/unit_tests/tests/test_pwm_generator.cpp
index a1c1588aec..c866968185 100644
--- a/unit_tests/tests/test_pwm_generator.cpp
+++ b/unit_tests/tests/test_pwm_generator.cpp
@@ -32,8 +32,8 @@ static void assertNextEvent(const char *msg, int expectedPinState, TestExecutor
 	timeNowUs = expectedTimeOfNextEvent;
 
 	// execute pending actions and assert that only one action was executed
-	assertEqualsM5(msg, " executed", 1, executor->executeAll(timeNowUs), 0);
-	assertEqualsM5(msg, " pin state", expectedPinState, pinValue, 0);
+	ASSERT_NEAR(1, executor->executeAll(timeNowUs), 0) << msg << " executed";
+	ASSERT_NEAR(expectedPinState, pinValue, 0) << msg << " pin state";
 
 	// assert that we have one new action in queue
 	ASSERT_EQ( 1,  executor->size()) << "PWM_test: queue.size";
diff --git a/unit_tests/tests/test_trigger_decoder.cpp b/unit_tests/tests/test_trigger_decoder.cpp
index 3389b66fdd..53a225616b 100644
--- a/unit_tests/tests/test_trigger_decoder.cpp
+++ b/unit_tests/tests/test_trigger_decoder.cpp
@@ -223,8 +223,8 @@ static void testTriggerDecoder2(const char *msg, engine_type_e type, int synchPo
 
 	assertEqualsM("synchPointIndex", synchPointIndex, t->getTriggerShapeSynchPointIndex());
 
-	assertEqualsM5(msg, " channel1duty", channel1duty, t->expectedDutyCycle[0], 0.0001);
-	assertEqualsM5(msg, " channel2duty", channel2duty, t->expectedDutyCycle[1], 0.0001);
+	ASSERT_NEAR(channel1duty, t->expectedDutyCycle[0], 0.0001) << msg << " channel1duty";
+	ASSERT_NEAR(channel2duty, t->expectedDutyCycle[1], 0.0001) << msg << " channel2duty";
 }
 
 static void testTriggerDecoder3(const char *msg, engine_type_e type, int synchPointIndex, float channel1duty, float channel2duty, float expectedGap) {
diff --git a/unit_tests/unit_test_framework.cpp b/unit_tests/unit_test_framework.cpp
index d67d3a3207..2af3ce0f68 100644
--- a/unit_tests/unit_test_framework.cpp
+++ b/unit_tests/unit_test_framework.cpp
@@ -7,38 +7,18 @@
 
 #include <stdlib.h>
 #include "global.h"
-
-void assertEqualsM5(const char *prefix, const char *message, float expected, float actual, float EPS) {
-	char msg[100];
-	strcpy(msg, prefix);
-	strcat(msg, message);
-	if (cisnan(actual) && !cisnan(expected)) {
-		printf("Assert failed: %s %.4f while expected %.4f\r\n", msg, actual, expected);
-		exit(-1);
-	}
-
-	float delta = absF(actual - expected);
-	if (delta > EPS) {
-		printf("delta: %.7f\r\n", delta);
-		printf("Unexpected: %s %.4f while expected %.4f\r\n", msg, actual, expected);
-		exit(-1);
-	}
-	printf("Validated %s: %f\r\n", msg, expected);
-}
+#include "unit_test_framework.h"
 
 void assertEqualsM2(const char *msg, float expected, float actual, float eps) {
-	assertEqualsM5("", msg, expected, actual, eps);
+	ASSERT_NEAR(expected, actual, eps) << msg;
 }
 
 void assertEqualsM4(const char *prefix, const char *msg, float expected, float actual) {
-	assertEqualsM5(prefix, msg, expected, actual, 0.00001);
+	ASSERT_NEAR(expected, actual, 0.00001) << prefix << msg;
 }
 
 void assertEqualsLM(const char *msg, long expected, long actual) {
-	if (expected != actual) {
-		printf("Assert failed: %s %d while expected %d\r\n", msg, actual, expected);
-		exit(-1);
-	}
+	ASSERT_EQ(expected, actual) << msg;
 }
 
 void assertEqualsM(const char *msg, float expected, float actual) {
diff --git a/unit_tests/unit_test_framework.h b/unit_tests/unit_test_framework.h
index d5b257e5d7..4ec6f08d8e 100644
--- a/unit_tests/unit_test_framework.h
+++ b/unit_tests/unit_test_framework.h
@@ -23,6 +23,5 @@ void assertEqualsM2(const char *msg, float expected, float actual, float EPS);
 void assertEqualsM(const char *msg, float expected, float actual);
 void assertEqualsLM(const char *msg, long expected, long actual);
 void assertEqualsM4(const char *prefix, const char *msg, float expected, float actual);
-void assertEqualsM5(const char *prefix, const char *message, float expected, float actual, float EPS);
 
 #endif /* UNIT_TEST_FRAMEWORK_H_ */