diff --git a/Tools/HIL/run_tests.py b/Tools/HIL/run_tests.py
index f02c67c0ad..b6d069cc4c 100755
--- a/Tools/HIL/run_tests.py
+++ b/Tools/HIL/run_tests.py
@@ -82,7 +82,6 @@ def main():
     do_test(args.device, args.baudrate, "commander")
     do_test(args.device, args.baudrate, "controllib")
     do_test(args.device, args.baudrate, "conv")
-    do_test(args.device, args.baudrate, "ctlmath")
     #do_test(args.device, args.baudrate, "dataman")
     do_test(args.device, args.baudrate, "float")
     do_test(args.device, args.baudrate, "hrt")
diff --git a/cmake/gtest/px4_add_gtest.cmake b/cmake/gtest/px4_add_gtest.cmake
index c85a7248e8..c3d3fef6da 100644
--- a/cmake/gtest/px4_add_gtest.cmake
+++ b/cmake/gtest/px4_add_gtest.cmake
@@ -33,7 +33,7 @@
 
 #=============================================================================
 #
-#	px4_add_gtest
+#	px4_add_unit_gtest
 #
 #	Adds a googletest unit test to the test_results target.
 #
diff --git a/platforms/posix/cmake/sitl_tests.cmake b/platforms/posix/cmake/sitl_tests.cmake
index 5ec133cc7d..04a28a9fe6 100644
--- a/platforms/posix/cmake/sitl_tests.cmake
+++ b/platforms/posix/cmake/sitl_tests.cmake
@@ -10,7 +10,6 @@ set(tests
 	commander
 	controllib
 	conv
-	ctlmath
 	dataman
 	file2
 	float
diff --git a/src/modules/mc_pos_control/PositionControl/CMakeLists.txt b/src/modules/mc_pos_control/PositionControl/CMakeLists.txt
index d9012e5a92..0dd7f68c42 100644
--- a/src/modules/mc_pos_control/PositionControl/CMakeLists.txt
+++ b/src/modules/mc_pos_control/PositionControl/CMakeLists.txt
@@ -39,3 +39,5 @@ target_include_directories(PositionControl
 	PUBLIC
 	${CMAKE_CURRENT_SOURCE_DIR}
 )
+
+px4_add_unit_gtest(SRC ControlMathTest.cpp LINKLIBS PositionControl)
diff --git a/src/modules/mc_pos_control/PositionControl/ControlMathTest.cpp b/src/modules/mc_pos_control/PositionControl/ControlMathTest.cpp
new file mode 100644
index 0000000000..1ed098cc0c
--- /dev/null
+++ b/src/modules/mc_pos_control/PositionControl/ControlMathTest.cpp
@@ -0,0 +1,181 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2019 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 <px4_defines.h>
+
+using namespace matrix;
+using namespace ControlMath;
+
+
+TEST(ControlMathTest, ThrottleAttitudeMapping)
+{
+	/* expected: zero roll, zero pitch, zero yaw, full thr mag
+	 * reason: thrust pointing full upward */
+	Vector3f thr{0.0f, 0.0f, -1.0f};
+	float yaw = 0.0f;
+	vehicle_attitude_setpoint_s att{};
+	att = thrustToAttitude(thr, yaw);
+	EXPECT_EQ(att.roll_body, 0);
+	EXPECT_EQ(att.pitch_body, 0);
+	EXPECT_EQ(att.yaw_body, 0);
+	EXPECT_EQ(att.thrust_body[2], -1.f);
+
+	/* expected: same as before but with 90 yaw
+	 * reason: only yaw changed */
+	yaw = M_PI_2_F;
+	att = thrustToAttitude(thr, yaw);
+	EXPECT_EQ(att.roll_body, 0);
+	EXPECT_EQ(att.pitch_body, 0);
+	EXPECT_EQ(att.yaw_body, M_PI_2_F);
+	EXPECT_EQ(att.thrust_body[2], -1.f);
+
+	/* expected: same as before but roll 180
+	 * reason: thrust points straight down and order Euler
+	 * order is: 1. roll, 2. pitch, 3. yaw */
+	thr = Vector3f(0.0f, 0.0f, 1.0f);
+	att = thrustToAttitude(thr, yaw);
+	EXPECT_NEAR(abs(att.roll_body), M_PI_F, 1e4f);
+	EXPECT_EQ(att.pitch_body, 0);
+	EXPECT_EQ(att.yaw_body, M_PI_2_F);
+	EXPECT_EQ(att.thrust_body[2], -1.f);
+}
+
+TEST(ControlMathTest, ConstrainXYPriorities)
+{
+	float max = 5.0f;
+	// v0 already at max
+	Vector2f v0(max, 0);
+	Vector2f v1(v0(1), -v0(0));
+
+	Vector2f v_r = constrainXY(v0, v1, max);
+	EXPECT_EQ(v_r(0), max);
+	EXPECT_GT(v_r(0), 0);
+	EXPECT_EQ(v_r(1), 0);
+
+	// v1 exceeds max but v0 is zero
+	v0.zero();
+	v_r = constrainXY(v0, v1, max);
+	EXPECT_EQ(v_r(1), -max);
+	EXPECT_LT(v_r(1), 0);
+	EXPECT_EQ(v_r(0), 0);
+
+	v0 = Vector2f(0.5f, 0.5f);
+	v1 = Vector2f(0.5f, -0.5f);
+	v_r = constrainXY(v0, v1, max);
+	float diff = Vector2f(v_r - (v0 + v1)).length();
+	EXPECT_EQ(diff, 0);
+
+	// v0 and v1 exceed max and are perpendicular
+	v0 = Vector2f(4.0f, 0.0f);
+	v1 = Vector2f(0.0f, -4.0f);
+	v_r = constrainXY(v0, v1, max);
+	EXPECT_EQ(v_r(0), v0(0));
+	EXPECT_GT(v_r(0), 0);
+	float remaining = sqrtf(max * max - (v0(0) * v0(0)));
+	EXPECT_EQ(v_r(1), -remaining);
+}
+
+TEST(ControlMathTest, CrossSphereLine)
+{
+	/* Testing 9 positions (+) around waypoints (o):
+	 *
+	 * Far             +              +              +
+	 *
+	 * Near            +              +              +
+	 * On trajectory --+----o---------+---------o----+--
+	 *                    prev                curr
+	 *
+	 * Expected targets (1, 2, 3):
+	 * Far             +              +              +
+	 *
+	 *
+	 * On trajectory -------1---------2---------3-------
+	 *
+	 *
+	 * Near            +              +              +
+	 * On trajectory -------o---1---------2-----3-------
+	 *
+	 *
+	 * On trajectory --+----o----1----+--------2/3---+-- */
+	Vector3f prev = Vector3f(0.0f, 0.0f, 0.0f);
+	Vector3f curr = Vector3f(0.0f, 0.0f, 2.0f);
+	Vector3f res;
+	bool retval = false;
+
+	// on line, near, before previous waypoint
+	retval = cross_sphere_line(Vector3f(0.0f, 0.0f, -0.5f), 1.0f, prev, curr, res);
+	EXPECT_TRUE(retval);
+	EXPECT_EQ(res, Vector3f(0.f, 0.f, 0.5f));
+
+	// on line, near, before target waypoint
+	retval = cross_sphere_line(Vector3f(0.0f, 0.0f, 1.0f), 1.0f, prev, curr, res);
+	EXPECT_TRUE(retval);
+	EXPECT_EQ(res, Vector3f(0.f, 0.f, 2.f));
+
+	// on line, near, after target waypoint
+	retval = cross_sphere_line(Vector3f(0.0f, 0.0f, 2.5f), 1.0f, prev, curr, res);
+	EXPECT_TRUE(retval);
+	EXPECT_EQ(res, Vector3f(0.f, 0.f, 2.f));
+
+	// near, before previous waypoint
+	retval = cross_sphere_line(Vector3f(0.0f, 0.5f, -0.5f), 1.0f, prev, curr, res);
+	EXPECT_TRUE(retval);
+	EXPECT_EQ(res, Vector3f(0.f, 0.f, 0.366025388f));
+
+	// near, before target waypoint
+	retval = cross_sphere_line(Vector3f(0.0f, 0.5f, 1.0f), 1.0f, prev, curr, res);
+	EXPECT_TRUE(retval);
+	EXPECT_EQ(res, Vector3f(0.f, 0.f, 1.866025448f));
+
+	// near, after target waypoint
+	retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 0.5f, 2.5f), 1.0f, prev, curr, res);
+	EXPECT_TRUE(retval);
+	EXPECT_EQ(res, Vector3f(0.f, 0.f, 2.f));
+
+	// far, before previous waypoint
+	retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 2.0f, -0.5f), 1.0f, prev, curr, res);
+	EXPECT_FALSE(retval);
+	EXPECT_EQ(res, Vector3f());
+
+	// far, before target waypoint
+	retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 2.0f, 1.0f), 1.0f, prev, curr, res);
+	EXPECT_FALSE(retval);
+	EXPECT_EQ(res, Vector3f(0.f, 0.f, 1.f));
+
+	// far, after target waypoint
+	retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 2.0f, 2.5f), 1.0f, prev, curr, res);
+	EXPECT_FALSE(retval);
+	EXPECT_EQ(res, Vector3f(0.f, 0.f, 2.f));
+}
diff --git a/src/systemcmds/tests/CMakeLists.txt b/src/systemcmds/tests/CMakeLists.txt
index ea77ef548e..eb3c365b9e 100644
--- a/src/systemcmds/tests/CMakeLists.txt
+++ b/src/systemcmds/tests/CMakeLists.txt
@@ -36,7 +36,6 @@ set(srcs
 	test_autodeclination.cpp
 	test_bezierQuad.cpp
 	test_bson.cpp
-	test_controlmath.cpp
 	test_conv.cpp
 	test_dataman.c
 	test_file.c
diff --git a/src/systemcmds/tests/test_controlmath.cpp b/src/systemcmds/tests/test_controlmath.cpp
deleted file mode 100644
index ba2fd4f003..0000000000
--- a/src/systemcmds/tests/test_controlmath.cpp
+++ /dev/null
@@ -1,252 +0,0 @@
-/****************************************************************************
- *
- *  Copyright (C) 2018-2019 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.
- *
- ****************************************************************************/
-
-/**
- * @file test_controlmath.cpp
- * Tests for the controls calculations.
- */
-
-#include <unit_test.h>
-#include <mc_pos_control/PositionControl/ControlMath.hpp>
-#include <mathlib/mathlib.h>
-#include <float.h>
-
-#define SIGMA_SINGLE_OP			0.000001f
-
-class ControlMathTest : public UnitTest
-{
-public:
-	virtual bool run_tests();
-
-private:
-	bool testThrAttMapping();
-	bool testPrioritizeVector();
-	bool crossSphereLineTest();
-};
-
-bool ControlMathTest::run_tests()
-{
-	ut_run_test(testThrAttMapping);
-	ut_run_test(testPrioritizeVector);
-	ut_run_test(crossSphereLineTest);
-
-	return (_tests_failed == 0);
-}
-
-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_assert_true(att.roll_body < SIGMA_SINGLE_OP);
-	ut_assert_true(att.pitch_body < SIGMA_SINGLE_OP);
-	ut_assert_true(att.yaw_body < SIGMA_SINGLE_OP);
-	ut_assert_true(-att.thrust_body[2] - 1.0f < SIGMA_SINGLE_OP);
-
-	/* 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 < SIGMA_SINGLE_OP);
-	ut_assert_true(att.pitch_body < SIGMA_SINGLE_OP);
-	ut_assert_true(att.yaw_body - M_PI_2_F < SIGMA_SINGLE_OP);
-	ut_assert_true(-att.thrust_body[2] - 1.0f < SIGMA_SINGLE_OP);
-
-	/* 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 < SIGMA_SINGLE_OP);
-	ut_assert_true(fabsf(att.pitch_body) < SIGMA_SINGLE_OP);
-	ut_assert_true(att.yaw_body - M_PI_2_F < SIGMA_SINGLE_OP);
-	ut_assert_true(-att.thrust_body[2] - 1.0f < SIGMA_SINGLE_OP);
-
-	/* TODO: find a good way to test it */
-
-
-	return true;
-}
-
-bool ControlMathTest::testPrioritizeVector()
-{
-	float max = 5.0f;
-
-	// v0 already at max
-	matrix::Vector2f v0(max, 0);
-	matrix::Vector2f v1(v0(1), -v0(0));
-
-	// the static keywork is a workaround for an internal bug of GCC
-	// "internal compiler error: in trunc_int_for_mode, at explow.c:55"
-	matrix::Vector2f v_r = ControlMath::constrainXY(v0, v1, max);
-	ut_assert_true(fabsf(v_r(0)) - max < SIGMA_SINGLE_OP && v_r(0) > 0.0f);
-	ut_assert_true(fabsf(v_r(1) - 0.0f) < SIGMA_SINGLE_OP);
-
-	// v1 exceeds max but v0 is zero
-	v0.zero();
-	v_r = ControlMath::constrainXY(v0, v1, max);
-	ut_assert_true(fabsf(v_r(1)) - max < SIGMA_SINGLE_OP && v_r(1) < 0.0f);
-	ut_assert_true(fabsf(v_r(0) - 0.0f) < SIGMA_SINGLE_OP);
-
-	// v0 and v1 are below max
-	v0 = matrix::Vector2f(0.5f, 0.5f);
-	v1(0) = v0(1); v1(1) = -v0(0);
-	v_r = ControlMath::constrainXY(v0, v1, max);
-	float diff = matrix::Vector2f(v_r - (v0 + v1)).length();
-	ut_assert_true(diff < SIGMA_SINGLE_OP);
-
-	// v0 and v1 exceed max and are perpendicular
-	v0 = matrix::Vector2f(4.0f, 0.0f);
-	v1 = matrix::Vector2f(0.0f, -4.0f);
-	v_r = ControlMath::constrainXY(v0, v1, max);
-	ut_assert_true(v_r(0) - v0(0) < SIGMA_SINGLE_OP && v_r(0) > 0.0f);
-	float remaining = sqrtf(max * max - (v0(0) * v0(0)));
-	ut_assert_true(fabsf(v_r(1)) - remaining  < SIGMA_SINGLE_OP && v_r(1) < SIGMA_SINGLE_OP);
-
-	//TODO: add more tests with vectors not perpendicular
-
-	return true;
-}
-
-bool ControlMathTest::crossSphereLineTest()
-{
-	matrix::Vector3f prev = matrix::Vector3f(0.0f, 0.0f, 0.0f);
-	matrix::Vector3f curr = matrix::Vector3f(0.0f, 0.0f, 2.0f);
-	matrix::Vector3f res;
-	bool retval = false;
-
-	/*
-	 * Testing 9 positions (+) around waypoints (o):
-	 *
-	 * Far             +              +              +
-	 *
-	 * Near            +              +              +
-	 * On trajectory --+----o---------+---------o----+--
-	 *                    prev                curr
-	 *
-	 * Expected targets (1, 2, 3):
-	 * Far             +              +              +
-	 *
-	 *
-	 * On trajectory -------1---------2---------3-------
-	 *
-	 *
-	 * Near            +              +              +
-	 * On trajectory -------o---1---------2-----3-------
-	 *
-	 *
-	 * On trajectory --+----o----1----+--------2/3---+--
-	 */
-
-	// on line, near, before previous waypoint
-	retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 0.0f, -0.5f), 1.0f, prev, curr, res);
-	PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
-	ut_assert_true(retval);
-	ut_compare_float("target A 0", res(0), 0.0f, 2);
-	ut_compare_float("target A 1", res(1), 0.0f, 2);
-	ut_compare_float("target A 2", res(2), 0.5f, 2);
-
-	// on line, near, before target waypoint
-	retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 0.0f, 1.0f), 1.0f, prev, curr, res);
-	PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
-	ut_assert_true(retval);
-	ut_compare_float("target B 0", res(0), 0.0f, 2);
-	ut_compare_float("target B 1", res(1), 0.0f, 2);
-	ut_compare_float("target B 2", res(2), 2.0f, 2);
-
-	// on line, near, after target waypoint
-	retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 0.0f, 2.5f), 1.0f, prev, curr, res);
-	PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
-	ut_assert_true(retval);
-	ut_compare_float("target C 0", res(0), 0.0f, 2);
-	ut_compare_float("target C 1", res(1), 0.0f, 2);
-	ut_compare_float("target C 2", res(2), 2.0f, 2);
-
-	// near, before previous waypoint
-	retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 0.5f, -0.5f), 1.0f, prev, curr, res);
-	PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
-	ut_assert_true(retval);
-	ut_compare_float("target D 0", res(0), 0.0f, 2);
-	ut_compare_float("target D 1", res(1), 0.0f, 2);
-	ut_compare_float("target D 2", res(2), 0.37f, 2);
-
-	// near, before target waypoint
-	retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 0.5f, 1.0f), 1.0f, prev, curr, res);
-	PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
-	ut_assert_true(retval);
-	ut_compare_float("target E 0", res(0), 0.0f, 2);
-	ut_compare_float("target E 1", res(1), 0.0f, 2);
-	ut_compare_float("target E 2", res(2), 1.87f, 2);
-
-	// near, after target waypoint
-	retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 0.5f, 2.5f), 1.0f, prev, curr, res);
-	PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
-	ut_assert_true(retval);
-	ut_compare_float("target F 0", res(0), 0.0f, 2);
-	ut_compare_float("target F 1", res(1), 0.0f, 2);
-	ut_compare_float("target F 2", res(2), 2.0f, 2);
-
-	// far, before previous waypoint
-	retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 2.0f, -0.5f), 1.0f, prev, curr, res);
-	PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
-	ut_assert_false(retval);
-	ut_compare_float("target G 0", res(0), 0.0f, 2);
-	ut_compare_float("target G 1", res(1), 0.0f, 2);
-	ut_compare_float("target G 2", res(2), 0.0f, 2);
-
-	// far, before target waypoint
-	retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 2.0f, 1.0f), 1.0f, prev, curr, res);
-	PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
-	ut_assert_false(retval);
-	ut_compare_float("target H 0", res(0), 0.0f, 2);
-	ut_compare_float("target H 1", res(1), 0.0f, 2);
-	ut_compare_float("target H 2", res(2), 1.0f, 2);
-
-	// far, after target waypoint
-	retval = ControlMath::cross_sphere_line(matrix::Vector3f(0.0f, 2.0f, 2.5f), 1.0f, prev, curr, res);
-	PX4_WARN("result %.2f, %.2f, %.2f", (double)res(0), (double)res(1), (double)res(2));
-	ut_assert_false(retval);
-	ut_compare_float("target I 0", res(0), 0.0f, 2);
-	ut_compare_float("target I 1", res(1), 0.0f, 2);
-	ut_compare_float("target I 2", res(2), 2.0f, 2);
-
-	return true;
-}
-
-ut_declare_test_c(test_controlmath, ControlMathTest)
diff --git a/src/systemcmds/tests/tests_main.c b/src/systemcmds/tests/tests_main.c
index 8acc2b3041..e701803c27 100644
--- a/src/systemcmds/tests/tests_main.c
+++ b/src/systemcmds/tests/tests_main.c
@@ -83,7 +83,6 @@ const struct {
 	{"bezier",		test_bezierQuad,	0},
 	{"bson",		test_bson,		0},
 	{"conv",		test_conv,		0},
-	{"ctlmath",		test_controlmath,	0},
 	{"dataman",		test_dataman,		OPT_NOJIGTEST | OPT_NOALLTEST},
 	{"file2",		test_file2,		OPT_NOJIGTEST},
 	{"float",		test_float,		0},
diff --git a/src/systemcmds/tests/tests_main.h b/src/systemcmds/tests/tests_main.h
index 0646697635..55a73a5a5e 100644
--- a/src/systemcmds/tests/tests_main.h
+++ b/src/systemcmds/tests/tests_main.h
@@ -47,7 +47,6 @@ extern int test_adc(int argc, char *argv[]);
 extern int test_autodeclination(int argc, char *argv[]);
 extern int test_bezierQuad(int argc, char *argv[]);
 extern int test_bson(int argc, char *argv[]);
-extern int test_controlmath(int argc, char *argv[]);
 extern int test_conv(int argc, char *argv[]);
 extern int test_dataman(int argc, char *argv[]);
 extern int test_file(int argc, char *argv[]);