diff --git a/src/lib/FlightTasks/tasks/Utility/Makefile b/src/lib/FlightTasks/tasks/Utility/Makefile
new file mode 100644
index 0000000000..df018d73ab
--- /dev/null
+++ b/src/lib/FlightTasks/tasks/Utility/Makefile
@@ -0,0 +1,12 @@
+
+.PHONY: all tests clean
+all: test_velocity_smoothing
+
+test_velocity_smoothing: test_velocity_smoothing.cpp VelocitySmoothing.cpp
+	@g++ $^ -std=c++11 -I ../../../ -o $@
+
+tests: test_velocity_smoothing
+	@echo "Test velocity smoothing"
+
+clean:
+	@rm test_velocity_smoothing
diff --git a/src/lib/FlightTasks/tasks/Utility/test_velocity_smoothing.cpp b/src/lib/FlightTasks/tasks/Utility/test_velocity_smoothing.cpp
new file mode 100644
index 0000000000..de2d8f3ea3
--- /dev/null
+++ b/src/lib/FlightTasks/tasks/Utility/test_velocity_smoothing.cpp
@@ -0,0 +1,85 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * Test code for the Velocity Smoothing library
+ * Build and run using: make && ./test_velocity_smoothing
+ */
+
+#include "VelocitySmoothing.hpp"
+#include <cstdio>
+
+int main(int argc, char *argv[])
+{
+	VelocitySmoothing trajectory[3];
+
+	float a0[3] = {0.22, 0.f, 0.22f};
+	float v0[3] = {2.47f, -5.59e-6f, 2.47f};
+	float x0[3] = {0.f, 0.f, 0.f};
+
+	float j_max = 55.2f;
+	float a_max = 6.f;
+	float v_max = 6.f;
+
+	for (int i = 0; i < 3; i++) {
+		trajectory[i].setMaxJerk(j_max);
+		trajectory[i].setMaxAccel(a_max);
+		trajectory[i].setMaxVel(v_max);
+		trajectory[i].setCurrentAcceleration(a0[i]);
+		trajectory[i].setCurrentVelocity(v0[i]);
+	}
+
+	float dt = 0.01f;
+
+	float velocity_setpoint[3] = {0.f, 1.f, 0.f};
+
+	for (int i = 0; i < 3; i++) {
+		trajectory[i].updateDurations(dt, velocity_setpoint[i]);
+	}
+
+	VelocitySmoothing::timeSynchronization(trajectory, 2);
+
+	for (int i = 0; i < 3; i++) {
+		trajectory[i].integrate(a0[i], v0[i], x0[i]);
+	}
+
+	for (int i = 0; i < 3; i++) {
+		printf("Traj[%d]\n", i);
+		printf("jerk = %.3f\taccel = %.3f\tvel = %.3f\n", trajectory[i].getCurrentJerk(),
+		       trajectory[i].getCurrentAcceleration(), trajectory[i].getCurrentVelocity());
+		printf("T1 = %.3f\tT2 = %.3f\tT3 = %.3f\n", trajectory[i].getT1(), trajectory[i].getT2(), trajectory[i].getT3());
+		printf("\n");
+	}
+
+	return 0;
+}