diff --git a/src/lib/matrix/test/CMakeLists.txt b/src/lib/matrix/test/CMakeLists.txt
index 43dee79eca..c87679d9bb 100644
--- a/src/lib/matrix/test/CMakeLists.txt
+++ b/src/lib/matrix/test/CMakeLists.txt
@@ -7,7 +7,6 @@ add_compile_options(
 
 set(tests
     vectorAssignment
-    transpose
     vector
     vector2
     vector3
@@ -44,4 +43,5 @@ px4_add_unit_gtest(SRC MatrixSetIdentityTest.cpp)
 px4_add_unit_gtest(SRC MatrixSliceTest.cpp)
 px4_add_unit_gtest(SRC MatrixSparseVectorTest.cpp)
 px4_add_unit_gtest(SRC MatrixSquareTest.cpp)
+px4_add_unit_gtest(SRC MatrixTransposeTest.cpp)
 px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp)
diff --git a/src/lib/matrix/test/MatrixTransposeTest.cpp b/src/lib/matrix/test/MatrixTransposeTest.cpp
new file mode 100644
index 0000000000..a19181c579
--- /dev/null
+++ b/src/lib/matrix/test/MatrixTransposeTest.cpp
@@ -0,0 +1,47 @@
+/****************************************************************************
+ *
+ *   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(MatrixTransposeTest, Transpose)
+{
+	float data[6] = {1, 2, 3, 4, 5, 6};
+	Matrix<float, 2, 3> A(data);
+	Matrix<float, 3, 2> A_T = A.transpose();
+	float data_check[6] = {1, 4, 2, 5, 3, 6};
+	Matrix<float, 3, 2> A_T_check(data_check);
+	EXPECT_EQ(A_T, A_T_check);
+}
diff --git a/src/lib/matrix/test/transpose.cpp b/src/lib/matrix/test/transpose.cpp
deleted file mode 100644
index 05456fbdc2..0000000000
--- a/src/lib/matrix/test/transpose.cpp
+++ /dev/null
@@ -1,18 +0,0 @@
-#include "test_macros.hpp"
-
-#include <matrix/math.hpp>
-
-using namespace matrix;
-
-int main()
-{
-	float data[6] = {1, 2, 3, 4, 5, 6};
-	Matrix<float, 2, 3> A(data);
-	Matrix<float, 3, 2> A_T = A.transpose();
-	float data_check[6] = {1, 4, 2, 5, 3, 6};
-	Matrix<float, 3, 2> A_T_check(data_check);
-	TEST(isEqual(A_T, A_T_check));
-
-	return 0;
-}
-