diff --git a/src/lib/matrix/test/CMakeLists.txt b/src/lib/matrix/test/CMakeLists.txt
index 901be75795..5705b0e6f6 100644
--- a/src/lib/matrix/test/CMakeLists.txt
+++ b/src/lib/matrix/test/CMakeLists.txt
@@ -6,7 +6,6 @@ add_compile_options(
 )
 
 set(tests
-    vectorAssignment
     vector
 )
 
@@ -45,3 +44,4 @@ px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp)
 px4_add_unit_gtest(SRC MatrixUpperRightTriangleTest.cpp)
 px4_add_unit_gtest(SRC MatrixVector2Test.cpp)
 px4_add_unit_gtest(SRC MatrixVector3Test.cpp)
+px4_add_unit_gtest(SRC MatrixVectorAssignmentTest.cpp)
diff --git a/src/lib/matrix/test/MatrixVectorAssignmentTest.cpp b/src/lib/matrix/test/MatrixVectorAssignmentTest.cpp
new file mode 100644
index 0000000000..a638e8e468
--- /dev/null
+++ b/src/lib/matrix/test/MatrixVectorAssignmentTest.cpp
@@ -0,0 +1,60 @@
+/****************************************************************************
+ *
+ *   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(MatrixVectorAssignmentTest, VectorAssignment)
+{
+	Vector3f v;
+	v(0) = 1;
+	v(1) = 2;
+	v(2) = 3;
+
+	EXPECT_FLOAT_EQ(v(0), 1);
+	EXPECT_FLOAT_EQ(v(1), 2);
+	EXPECT_FLOAT_EQ(v(2), 3);
+
+	Vector3f v2(4, 5, 6);
+
+	EXPECT_FLOAT_EQ(v2(0), 4);
+	EXPECT_FLOAT_EQ(v2(1), 5);
+	EXPECT_FLOAT_EQ(v2(2), 6);
+
+	SquareMatrix<float, 3> m = diag(Vector3f(1, 2, 3));
+	EXPECT_FLOAT_EQ(m(0, 0), 1);
+	EXPECT_FLOAT_EQ(m(1, 1), 2);
+	EXPECT_FLOAT_EQ(m(2, 2), 3);
+}
diff --git a/src/lib/matrix/test/vectorAssignment.cpp b/src/lib/matrix/test/vectorAssignment.cpp
deleted file mode 100644
index 83081532c4..0000000000
--- a/src/lib/matrix/test/vectorAssignment.cpp
+++ /dev/null
@@ -1,33 +0,0 @@
-#include <matrix/math.hpp>
-
-#include "test_macros.hpp"
-
-using namespace matrix;
-
-int main()
-{
-	Vector3f v;
-	v(0) = 1;
-	v(1) = 2;
-	v(2) = 3;
-
-	static const float eps = 1e-7f;
-
-	TEST(fabs(v(0) - 1) < eps);
-	TEST(fabs(v(1) - 2) < eps);
-	TEST(fabs(v(2) - 3) < eps);
-
-	Vector3f v2(4, 5, 6);
-
-	TEST(fabs(v2(0) - 4) < eps);
-	TEST(fabs(v2(1) - 5) < eps);
-	TEST(fabs(v2(2) - 6) < eps);
-
-	SquareMatrix<float, 3> m = diag(Vector3f(1, 2, 3));
-	TEST(fabs(m(0, 0) - 1) < eps);
-	TEST(fabs(m(1, 1) - 2) < eps);
-	TEST(fabs(m(2, 2) - 3) < eps);
-
-	return 0;
-}
-