diff --git a/test/attitude.cpp b/test/attitude.cpp
index c2606b9b00..c2c6089d5c 100644
--- a/test/attitude.cpp
+++ b/test/attitude.cpp
@@ -322,6 +322,17 @@ int main()
     Dcmf dcm4(Eulerf(4, 5, 6));
     Dcmf dcm34 = dcm3 * dcm4;
     TEST(isEqual(Eulerf(Quatf(dcm4)*Quatf(dcm3)), Eulerf(dcm34)));
+
+    // check corner cases of matrix to quaternion conversion
+    q = Quatf(0,1,0,0); // 180 degree rotation around the x axis
+    R = Dcmf(q);
+    TEST(isEqual(q, Quatf(R)));
+    q = Quatf(0,0,1,0); // 180 degree rotation around the y axis
+    R = Dcmf(q);
+    TEST(isEqual(q, Quatf(R)));
+    q = Quatf(0,0,0,1); // 180 degree rotation around the z axis
+    R = Dcmf(q);
+    TEST(isEqual(q, Quatf(R)));
 };
 
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