diff --git a/src/lib/matrix/test/CMakeLists.txt b/src/lib/matrix/test/CMakeLists.txt
index 23e68bb25a..872cf14011 100644
--- a/src/lib/matrix/test/CMakeLists.txt
+++ b/src/lib/matrix/test/CMakeLists.txt
@@ -6,7 +6,6 @@ add_compile_options(
 )
 
 set(tests
-    setIdentity
     slice
     vectorAssignment
     transpose
@@ -43,5 +42,6 @@ px4_add_unit_gtest(SRC MatrixLeastSquaresTest.cpp)
 px4_add_unit_gtest(SRC MatrixMultiplicationTest.cpp)
 px4_add_unit_gtest(SRC MatrixPseudoInverseTest.cpp)
 px4_add_unit_gtest(SRC MatrixScalarMultiplicationTest.cpp)
+px4_add_unit_gtest(SRC MatrixSetIdentityTest.cpp)
 px4_add_unit_gtest(SRC MatrixSparseVectorTest.cpp)
 px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp)
diff --git a/src/lib/matrix/test/MatrixSetIdentityTest.cpp b/src/lib/matrix/test/MatrixSetIdentityTest.cpp
new file mode 100644
index 0000000000..a07322e615
--- /dev/null
+++ b/src/lib/matrix/test/MatrixSetIdentityTest.cpp
@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ *   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(MatrixSetIdentityTest, SetIdentity)
+{
+	Matrix3f A;
+	A.setIdentity();
+
+	for (size_t i = 0; i < 3; i++) {
+		for (size_t j = 0; j < 3; j++) {
+			if (i == j) {
+				EXPECT_FLOAT_EQ(A(i, j), 1);
+
+			} else {
+				EXPECT_FLOAT_EQ(A(i, j), 0);
+			}
+		}
+	}
+
+	Matrix3f B;
+	B.identity();
+
+	for (size_t i = 0; i < 3; i++) {
+		for (size_t j = 0; j < 3; j++) {
+			if (i == j) {
+				EXPECT_FLOAT_EQ(B(i, j), 1);
+
+			} else {
+				EXPECT_FLOAT_EQ(B(i, j), 0);
+			}
+		}
+	}
+}
diff --git a/src/lib/matrix/test/setIdentity.cpp b/src/lib/matrix/test/setIdentity.cpp
deleted file mode 100644
index a0193da649..0000000000
--- a/src/lib/matrix/test/setIdentity.cpp
+++ /dev/null
@@ -1,38 +0,0 @@
-#include "test_macros.hpp"
-#include <matrix/math.hpp>
-
-using namespace matrix;
-
-int main()
-{
-	Matrix3f A;
-	A.setIdentity();
-
-	for (size_t i = 0; i < 3; i++) {
-		for (size_t j = 0; j < 3; j++) {
-			if (i == j) {
-				TEST(fabs(A(i, j) -  1) < FLT_EPSILON);
-
-			} else {
-				TEST(fabs(A(i, j) -  0) < FLT_EPSILON);
-			}
-		}
-	}
-
-	Matrix3f B;
-	B.identity();
-
-	for (size_t i = 0; i < 3; i++) {
-		for (size_t j = 0; j < 3; j++) {
-			if (i == j) {
-				TEST(fabs(B(i, j) -  1) < FLT_EPSILON);
-
-			} else {
-				TEST(fabs(B(i, j) -  0) < FLT_EPSILON);
-			}
-		}
-	}
-
-	return 0;
-}
-