diff --git a/src/lib/matrix/test/CMakeLists.txt b/src/lib/matrix/test/CMakeLists.txt
index 50a7cf1695..dba19753b7 100644
--- a/src/lib/matrix/test/CMakeLists.txt
+++ b/src/lib/matrix/test/CMakeLists.txt
@@ -16,7 +16,6 @@ set(tests
     vector
     vector2
     vector3
-    integration
     squareMatrix
     least_squares
     upperRightTriangle
@@ -43,5 +42,6 @@ px4_add_unit_gtest(SRC MatrixDualTest.cpp)
 px4_add_unit_gtest(SRC MatrixFilterTest.cpp)
 px4_add_unit_gtest(SRC MatrixHatveeTest.cpp)
 px4_add_unit_gtest(SRC MatrixHelperTest.cpp)
+px4_add_unit_gtest(SRC MatrixIntegralTest.cpp)
 px4_add_unit_gtest(SRC MatrixSparseVectorTest.cpp)
 px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp)
diff --git a/src/lib/matrix/test/MatrixIntegralTest.cpp b/src/lib/matrix/test/MatrixIntegralTest.cpp
new file mode 100644
index 0000000000..5a7528dc85
--- /dev/null
+++ b/src/lib/matrix/test/MatrixIntegralTest.cpp
@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ *   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/integration.hpp>
+
+using namespace matrix;
+
+Vector<float, 6> f(float t, const Matrix<float, 6, 1> &  /*y*/, const Matrix<float, 3, 1> &  /*u*/)
+{
+	float v = -sin(t);
+	return v * ones<float, 6, 1>();
+}
+
+TEST(MatrixIntegralTest, Integral)
+{
+	Vector<float, 6> y = ones<float, 6, 1>();
+	Vector<float, 3> u = ones<float, 3, 1>();
+	float t0 = 0;
+	float tf = 2;
+	float h = 0.001f;
+	integrate_rk4(f, y, u, t0, tf, h, y);
+	float v = 1 + cos(tf) - cos(t0);
+	EXPECT_EQ(y, (ones<float, 6, 1>()*v));
+}
diff --git a/src/lib/matrix/test/integration.cpp b/src/lib/matrix/test/integration.cpp
deleted file mode 100644
index 7bec5dac28..0000000000
--- a/src/lib/matrix/test/integration.cpp
+++ /dev/null
@@ -1,26 +0,0 @@
-#include "test_macros.hpp"
-#include <matrix/integration.hpp>
-
-using namespace matrix;
-
-Vector<float, 6> f(float t, const Matrix<float, 6, 1> &  /*y*/, const Matrix<float, 3, 1> &  /*u*/);
-
-Vector<float, 6> f(float t, const Matrix<float, 6, 1> &  /*y*/, const Matrix<float, 3, 1> &  /*u*/)
-{
-	float v = -sin(t);
-	return v * ones<float, 6, 1>();
-}
-
-int main()
-{
-	Vector<float, 6> y = ones<float, 6, 1>();
-	Vector<float, 3> u = ones<float, 3, 1>();
-	float t0 = 0;
-	float tf = 2;
-	float h = 0.001f;
-	integrate_rk4(f, y, u, t0, tf, h, y);
-	float v = 1 + cos(tf) - cos(t0);
-	TEST(isEqual(y, (ones<float, 6, 1>()*v)));
-	return 0;
-}
-