diff --git a/libraries/AP_Math/examples/eulers/eulers.pde b/libraries/AP_Math/examples/eulers/eulers.pde
index 6d986681f2..b95ada4e3d 100644
--- a/libraries/AP_Math/examples/eulers/eulers.pde
+++ b/libraries/AP_Math/examples/eulers/eulers.pde
@@ -239,10 +239,27 @@ void test_frame_transforms(void)
 
     hal.console->println("frame transform tests\n");
 
-    q.from_euler(ToRad(90), 0, 0);
+    q.from_euler(ToRad(45), ToRad(45), ToRad(45));
+    q.normalize();
+    m.from_euler(ToRad(45), ToRad(45), ToRad(45));
+
     v2 = v = Vector3f(0, 0, 1);
     q.earth_to_body(v2);
     hal.console->printf("%f %f %f\n", v2.x, v2.y, v2.z);
+    v2 = m * v;
+    hal.console->printf("%f %f %f\n\n", v2.x, v2.y, v2.z);
+
+    v2 = v = Vector3f(0, 1, 0);
+    q.earth_to_body(v2);
+    hal.console->printf("%f %f %f\n", v2.x, v2.y, v2.z);
+    v2 = m * v;
+    hal.console->printf("%f %f %f\n\n", v2.x, v2.y, v2.z);
+
+    v2 = v = Vector3f(1, 0, 0);
+    q.earth_to_body(v2);
+    hal.console->printf("%f %f %f\n", v2.x, v2.y, v2.z);
+    v2 = m * v;
+    hal.console->printf("%f %f %f\n", v2.x, v2.y, v2.z);
 }
 
 // generate a random float between -1 and 1