diff --git a/boards/atlflight/eagle/default.cmake b/boards/atlflight/eagle/default.cmake
index 04ceb3c753..127da0597c 100644
--- a/boards/atlflight/eagle/default.cmake
+++ b/boards/atlflight/eagle/default.cmake
@@ -63,6 +63,7 @@ px4_add_board(
 
 	MODULES
 		muorb/krait
+		muorb/test
 
 		attitude_estimator_q
 		camera_feedback
diff --git a/boards/atlflight/excelsior/default.cmake b/boards/atlflight/excelsior/default.cmake
index dcb48e0e85..8398fdb80b 100644
--- a/boards/atlflight/excelsior/default.cmake
+++ b/boards/atlflight/excelsior/default.cmake
@@ -63,6 +63,7 @@ px4_add_board(
 
 	MODULES
 		muorb/krait
+		muorb/test
 
 		attitude_estimator_q
 		camera_feedback
diff --git a/src/platforms/posix/tests/muorb/CMakeLists.txt b/src/modules/muorb/test/CMakeLists.txt
similarity index 97%
rename from src/platforms/posix/tests/muorb/CMakeLists.txt
rename to src/modules/muorb/test/CMakeLists.txt
index 7912c5365f..341f2d99ed 100644
--- a/src/platforms/posix/tests/muorb/CMakeLists.txt
+++ b/src/modules/muorb/test/CMakeLists.txt
@@ -31,7 +31,7 @@
 #
 ############################################################################
 px4_add_module(
-	MODULE platforms__posix__tests__muorb
+	MODULE modules__muorb__test__muorb_test
 	MAIN muorb_test
 	SRCS
 		muorb_test_main.cpp
diff --git a/src/platforms/posix/tests/muorb/muorb_test_example.cpp b/src/modules/muorb/test/muorb_test_example.cpp
similarity index 100%
rename from src/platforms/posix/tests/muorb/muorb_test_example.cpp
rename to src/modules/muorb/test/muorb_test_example.cpp
diff --git a/src/platforms/posix/tests/muorb/muorb_test_example.h b/src/modules/muorb/test/muorb_test_example.h
similarity index 100%
rename from src/platforms/posix/tests/muorb/muorb_test_example.h
rename to src/modules/muorb/test/muorb_test_example.h
diff --git a/src/platforms/posix/tests/muorb/muorb_test_main.cpp b/src/modules/muorb/test/muorb_test_main.cpp
similarity index 100%
rename from src/platforms/posix/tests/muorb/muorb_test_main.cpp
rename to src/modules/muorb/test/muorb_test_main.cpp
diff --git a/src/platforms/posix/tests/muorb/muorb_test_start_posix.cpp b/src/modules/muorb/test/muorb_test_start_posix.cpp
similarity index 100%
rename from src/platforms/posix/tests/muorb/muorb_test_start_posix.cpp
rename to src/modules/muorb/test/muorb_test_start_posix.cpp