diff --git a/src/lib/matrix/test/CMakeLists.txt b/src/lib/matrix/test/CMakeLists.txt
index 9a5ed9418a..7ea130e20e 100644
--- a/src/lib/matrix/test/CMakeLists.txt
+++ b/src/lib/matrix/test/CMakeLists.txt
@@ -8,7 +8,6 @@ add_compile_options(
 set(tests
     vectorAssignment
     vector
-    vector2
     vector3
 )
 
@@ -45,3 +44,4 @@ px4_add_unit_gtest(SRC MatrixSquareTest.cpp)
 px4_add_unit_gtest(SRC MatrixTransposeTest.cpp)
 px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp)
 px4_add_unit_gtest(SRC MatrixUpperRightTriangleTest.cpp)
+px4_add_unit_gtest(SRC MatrixVector2Test.cpp)
diff --git a/src/lib/matrix/test/MatrixVector2Test.cpp b/src/lib/matrix/test/MatrixVector2Test.cpp
new file mode 100644
index 0000000000..23effd262b
--- /dev/null
+++ b/src/lib/matrix/test/MatrixVector2Test.cpp
@@ -0,0 +1,67 @@
+
+/****************************************************************************
+ *
+ *   Copyright (C) 2022 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.
+ *
+ ****************************************************************************/
+
+#include <gtest/gtest.h>
+#include <matrix/math.hpp>
+
+using namespace matrix;
+
+TEST(MatrixVector2Test, Vector2)
+{
+	Vector2f a(1, 0);
+	Vector2f b(0, 1);
+	EXPECT_FLOAT_EQ(a % b, 1.f);
+
+	Vector2f c;
+	EXPECT_FLOAT_EQ(c(0), 0.f);
+	EXPECT_FLOAT_EQ(c(1), 0.f);
+
+	Matrix<float, 2, 1> d(a);
+	EXPECT_FLOAT_EQ(d(0, 0), 1.f);
+	EXPECT_FLOAT_EQ(d(1, 0), 0.f);
+
+	Vector2f e(d);
+	EXPECT_FLOAT_EQ(e(0), 1.f);
+	EXPECT_FLOAT_EQ(e(1), 0.f);
+
+	float data[] = {4, 5};
+	Vector2f f(data);
+	EXPECT_FLOAT_EQ(f(0), 4.f);
+	EXPECT_FLOAT_EQ(f(1), 5.f);
+
+	Vector3f g(1.23f, 423.4f, 3221.f);
+	Vector2f h(g);
+	EXPECT_FLOAT_EQ(h(0), 1.23f);
+	EXPECT_FLOAT_EQ(h(1), 423.4f);
+}
diff --git a/src/lib/matrix/test/vector2.cpp b/src/lib/matrix/test/vector2.cpp
deleted file mode 100644
index 5b7d923d4e..0000000000
--- a/src/lib/matrix/test/vector2.cpp
+++ /dev/null
@@ -1,39 +0,0 @@
-
-
-#include <matrix/math.hpp>
-
-#include "test_macros.hpp"
-
-using namespace matrix;
-
-int main()
-{
-	Vector2f a(1, 0);
-	Vector2f b(0, 1);
-	TEST(fabs(a % b - 1.0f) < FLT_EPSILON);
-
-	Vector2f c;
-	TEST(fabs(c(0) - 0) < FLT_EPSILON);
-	TEST(fabs(c(1) - 0) < FLT_EPSILON);
-
-	Matrix<float, 2, 1> d(a);
-	TEST(fabs(d(0, 0) - 1) < FLT_EPSILON);
-	TEST(fabs(d(1, 0) - 0) < FLT_EPSILON);
-
-	Vector2f e(d);
-	TEST(fabs(e(0) - 1) < FLT_EPSILON);
-	TEST(fabs(e(1) - 0) < FLT_EPSILON);
-
-	float data[] = {4, 5};
-	Vector2f f(data);
-	TEST(fabs(f(0) - 4) < FLT_EPSILON);
-	TEST(fabs(f(1) - 5) < FLT_EPSILON);
-
-	Vector3f g(1.23f, 423.4f, 3221.f);
-	Vector2f h(g);
-	TEST(fabs(h(0) - 1.23f) < FLT_EPSILON);
-	TEST(fabs(h(1) - 423.4f) < FLT_EPSILON);
-
-	return 0;
-}
-