diff --git a/Tools/ardupilotwaf/ardupilotwaf.py b/Tools/ardupilotwaf/ardupilotwaf.py
index 7234625594..1c807ccd6b 100644
--- a/Tools/ardupilotwaf/ardupilotwaf.py
+++ b/Tools/ardupilotwaf/ardupilotwaf.py
@@ -38,6 +38,7 @@ COMMON_VEHICLE_DEPENDENT_LIBRARIES = [
     'AP_Compass',
     'AP_Declination',
     'AP_GPS',
+    'AP_GSOF',
     'AP_HAL',
     'AP_HAL_Empty',
     'AP_InertialSensor',
diff --git a/Tools/scripts/run_astyle.py b/Tools/scripts/run_astyle.py
index c92fc9079f..7f5a694f73 100755
--- a/Tools/scripts/run_astyle.py
+++ b/Tools/scripts/run_astyle.py
@@ -23,6 +23,7 @@ class AStyleChecker(object):
         self.directories_to_check = [
             'libraries/AP_DDS',
             'libraries/AP_ExternalControl',
+            'libraries/AP_GSOF',
         ]
         self.files_to_check = [
             pathlib.Path(s) for s in [
diff --git a/libraries/AP_GPS/AP_GPS_GSOF.cpp b/libraries/AP_GPS/AP_GPS_GSOF.cpp
index 2b537fb08d..588265b533 100644
--- a/libraries/AP_GPS/AP_GPS_GSOF.cpp
+++ b/libraries/AP_GPS/AP_GPS_GSOF.cpp
@@ -157,7 +157,8 @@ AP_GPS_GSOF::requestGSOF(const uint8_t messageType, const HW_Port portIndex, con
 }
 
 bool
-AP_GPS_GSOF::validate_com_port(const uint8_t com_port) const {
+AP_GPS_GSOF::validate_com_port(const uint8_t com_port) const
+{
     switch(com_port) {
         case static_cast<uint8_t>(HW_Port::COM1):
         case static_cast<uint8_t>(HW_Port::COM2):
@@ -168,7 +169,8 @@ AP_GPS_GSOF::validate_com_port(const uint8_t com_port) const {
 }
 
 void
-AP_GPS_GSOF::pack_state_data() {
+AP_GPS_GSOF::pack_state_data() 
+{
     // TODO should we pack time data if there is no fix?
     state.time_week_ms = pos_time.time_week_ms;
     state.time_week = pos_time.time_week;
diff --git a/libraries/AP_GSOF/tests/README.md b/libraries/AP_GSOF/tests/README.md
new file mode 100644
index 0000000000..684c317474
--- /dev/null
+++ b/libraries/AP_GSOF/tests/README.md
@@ -0,0 +1,3 @@
+# GSOF Tests
+
+A UDP packet of binary GSOF data is attached in the `gsof_data` file.
diff --git a/libraries/AP_GSOF/tests/gsof_gps.dat b/libraries/AP_GSOF/tests/gsof_gps.dat
new file mode 100644
index 0000000000..8b856f475e
Binary files /dev/null and b/libraries/AP_GSOF/tests/gsof_gps.dat differ
diff --git a/libraries/AP_GSOF/tests/test_gsof.cpp b/libraries/AP_GSOF/tests/test_gsof.cpp
index 7e23d9c3a6..628a6bf136 100644
--- a/libraries/AP_GSOF/tests/test_gsof.cpp
+++ b/libraries/AP_GSOF/tests/test_gsof.cpp
@@ -7,20 +7,34 @@
 
 #include <AP_GSOF/AP_GSOF.h>
 
+#include <cstdio>
+#include <cstdlib>
+
 const AP_HAL::HAL &hal = AP_HAL::get_HAL();
 
 
 TEST(AP_GSOF, incomplete_packet)
 {
     AP_GSOF gsof;
-    EXPECT_FALSE(gsof.parse(0));
+    EXPECT_FALSE(gsof.parse(0, 5));
 }
 
 TEST(AP_GSOF, packet1)
 {
-    // 02084072580000010a1e02e0680909009400000218000000000000000000000000000000000000000000000000080d000000000000000000000000000910000000000000000000000000000000000c260000000000000000000000000000000000000000000000000000000000000000000000000000a503
+    FILE* fp = std::fopen("libraries/AP_GSOF/tests/gsof_gps.dat", "rb");
+    EXPECT_NE(fp, nullptr);
     AP_GSOF gsof;
-    EXPECT_FALSE(gsof.parse(0));
+    char c = 0;
+    bool parsed = false;
+    while (c != EOF) {
+        c = fgetc (fp);
+        parsed |= gsof.parse((uint8_t)c, 5);
+    }
+    
+    EXPECT_TRUE(parsed);
+
+    fclose(fp);
+
 }
 
 AP_GTEST_MAIN()