diff --git a/src/modules/mc_pos_control/PositionControl/CMakeLists.txt b/src/modules/mc_pos_control/PositionControl/CMakeLists.txt
index 8136317376..72205231ea 100644
--- a/src/modules/mc_pos_control/PositionControl/CMakeLists.txt
+++ b/src/modules/mc_pos_control/PositionControl/CMakeLists.txt
@@ -41,3 +41,4 @@ target_include_directories(PositionControl PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
 
 px4_add_unit_gtest(SRC ControlMathTest.cpp LINKLIBS PositionControl)
 px4_add_unit_gtest(SRC PositionControlTest.cpp LINKLIBS PositionControl)
+px4_add_unit_gtest(SRC PositionAttitudeTest.cpp LINKLIBS PositionControl AttitudeControl)
diff --git a/src/modules/mc_pos_control/PositionControl/PositionAttitudeTest.cpp b/src/modules/mc_pos_control/PositionControl/PositionAttitudeTest.cpp
new file mode 100644
index 0000000000..10aecabc13
--- /dev/null
+++ b/src/modules/mc_pos_control/PositionControl/PositionAttitudeTest.cpp
@@ -0,0 +1,65 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 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.
+ *
+ ****************************************************************************/
+
+#include <gtest/gtest.h>
+#include <ControlMath.hpp>
+#include <AttitudeControl.hpp>
+#include <px4_defines.h>
+
+using namespace matrix;
+
+TEST(PositionControlTest, NavigationYawInfluence)
+{
+	const Vector3f thrust_setpoint(1.f, 1.f, -.5f);
+	const float yaw_setpoint = 0.f;
+
+	// Generate attitude
+	vehicle_attitude_setpoint_s attitude_setpoint{};
+	ControlMath::thrustToAttitude(thrust_setpoint, yaw_setpoint, attitude_setpoint);
+
+	// Set up attitude control
+	AttitudeControl attitude_control;
+	attitude_control.setProportionalGain(Vector3f(1.f, 1.f, 1.f));
+	attitude_control.setRateLimit(Vector3f(100.f, 100.f, 100.f));
+
+	// Execute on attitude
+	Quatf qd(attitude_setpoint.q_d);
+	const Vector3f rate_setpoint = attitude_control.update(Quatf(), qd, 0.f);
+	rate_setpoint.print();
+
+	// expect symmetric angular rate command towards thrust direction without any body yaw correction
+	EXPECT_GT(rate_setpoint(0), 0.f);
+	EXPECT_LT(rate_setpoint(1), 0.f);
+	EXPECT_FLOAT_EQ(fabsf(rate_setpoint(0)), fabsf(rate_setpoint(1)));
+	EXPECT_FLOAT_EQ(rate_setpoint(2), 0.f);
+}