diff --git a/src/modules/sensors/vehicle_gps_position/gps_blending_test.cpp b/src/modules/sensors/vehicle_gps_position/gps_blending_test.cpp
new file mode 100644
index 0000000000..353e78e4c0
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+++ b/src/modules/sensors/vehicle_gps_position/gps_blending_test.cpp
@@ -0,0 +1,63 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 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.
+ *
+ ****************************************************************************/
+
+/**
+ * Test code for the GPS blending logic
+ * Run this test only using make tests TESTFILTER=GpsBlending
+ *
+ * @author Mathieu Bresciani <mathieu@auterion.com>
+ */
+
+#include <gtest/gtest.h>
+#include <matrix/matrix/math.hpp>
+
+#include "gps_blending.hpp"
+
+using matrix::Vector3f;
+
+class GpsBlendingTest : public ::testing::Test
+{
+public:
+	GpsBlending<2> _gps_blending;
+};
+
+TEST_F(GpsBlendingTest, noData)
+{
+	EXPECT_EQ(_gps_blending.getSelectedGps(), 0);
+	EXPECT_FALSE(_gps_blending.isNewOutputDataAvailable());
+
+	_gps_blending.update();
+
+	EXPECT_EQ(_gps_blending.getSelectedGps(), 0);
+	EXPECT_FALSE(_gps_blending.isNewOutputDataAvailable());
+}