diff --git a/src/modules/mc_pos_control/mc_pos_control_tests/test_controlmath.cpp b/src/modules/mc_pos_control/mc_pos_control_tests/test_controlmath.cpp
index d999b4aa42..2facb40fcf 100644
--- a/src/modules/mc_pos_control/mc_pos_control_tests/test_controlmath.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_tests/test_controlmath.cpp
@@ -12,6 +12,7 @@ public:
 private:
 	bool testConstrainTilt();
 	bool testConstrainPIDu();
+	bool testThrAttMapping();
 
 
 };
@@ -20,6 +21,7 @@ bool ControlMathTest::run_tests()
 {
 	ut_run_test(testConstrainTilt);
 	ut_run_test(testConstrainPIDu);
+	ut_run_test(testThrAttMapping);
 
 	return (_tests_failed == 0);
 }
@@ -212,4 +214,45 @@ bool ControlMathTest::testConstrainPIDu()
 	return true;
 }
 
+bool ControlMathTest::testThrAttMapping()
+{
+
+	/* expected: zero roll, zero pitch, zero yaw, full thr mag
+	 * reasone: thrust pointing full upward
+	 */
+	matrix::Vector3f thr{0.0f, 0.0f, -1.0f};
+	float yaw = 0.0f;
+	vehicle_attitude_setpoint_s att = ControlMath::thrustToAttitude(thr, yaw);
+	ut_compare("", att.roll_body, EPS);
+	ut_assert_true(att.pitch_body < EPS);
+	ut_assert_true(att.yaw_body < EPS);
+	ut_assert_true(att.thrust - 1.0f < EPS);
+
+	/* expected: same as before but with 90 yaw
+	 * reason: only yaw changed
+	 */
+	yaw = M_PI_2_F;
+	att = ControlMath::thrustToAttitude(thr, yaw);
+	ut_assert_true(att.roll_body < EPS);
+	ut_assert_true(att.pitch_body < EPS);
+	ut_assert_true(att.yaw_body - M_PI_2_F < EPS);
+	ut_assert_true(att.thrust - 1.0f < EPS);
+
+	/* expected: same as before but roll 180
+	 * reason: thrust points straight down and order Euler
+	 * order is: 1. roll, 2. pitch, 3. yaw
+	 */
+	thr = matrix::Vector3f(0.0f, 0.0f, 1.0f);
+	att = ControlMath::thrustToAttitude(thr, yaw);
+	ut_assert_true(fabsf(att.roll_body) - M_PI_F < EPS);
+	ut_assert_true(fabsf(att.pitch_body) < EPS);
+	ut_assert_true(att.yaw_body - M_PI_2_F < EPS);
+	ut_assert_true(att.thrust - 1.0f < EPS);
+
+	/* TODO: find a good way to test it */
+
+
+	return true;
+}
+
 ut_declare_test_c(test_controlmath, ControlMathTest)