diff --git a/unit_tests/tests/test_idle_controller.cpp b/unit_tests/tests/test_idle_controller.cpp
index 54671528d8..69b0a23b38 100644
--- a/unit_tests/tests/test_idle_controller.cpp
+++ b/unit_tests/tests/test_idle_controller.cpp
@@ -48,61 +48,7 @@ TEST(idle, fsioPidParameters) {
 
 }
 
-TEST(idle, pid) {
-	print("******************************************* testPidController\r\n");
-	pid_s pidS;
-	pidS.pFactor = 50;
-	pidS.iFactor = 0.5;
-	pidS.dFactor = 0;
-	pidS.offset = 0;
-	pidS.minValue = 10;
-	pidS.maxValue = 90;
-	pidS.periodMs = 1;
-
-	Pid pid(&pidS);
-
-	ASSERT_EQ( 90,  pid.getOutput(14, 12, 0.1)) << "getValue#90";
-
-
-	ASSERT_EQ( 10,  pid.getOutput(14, 16, 0.1)) << "getValue#10";
-	ASSERT_EQ(10, pid.getOutput(14, 16, 1));
-
-	pid.updateFactors(29, 0, 0);
-	ASSERT_EQ(10, pid.getOutput(14, 16, 1));
-//	ASSERT_EQ(68, pid.getIntegration());
-
-	ASSERT_EQ(10, pid.getOutput(14, 16, 1));
-//	ASSERT_EQ(0, pid.getIntegration());
-
-	ASSERT_EQ(10, pid.getOutput(14, 16, 1));
-//	ASSERT_EQ(68, pid.getIntegration());
-
-
-
-	pidS.pFactor = 1;
-	pidS.iFactor = 0;
-	pidS.dFactor = 0;
-	pidS.offset = 0;
-	pidS.minValue = 0;
-	pidS.maxValue = 100;
-	pidS.periodMs = 1;
-
-	pid.reset();
-
-	ASSERT_EQ( 50,  pid.getOutput(/*target*/50, /*input*/0)) << "target=50, input=0";
-	ASSERT_EQ( 0,  pid.iTerm) << "target=50, input=0 iTerm";
-
-	ASSERT_EQ( 0,  pid.getOutput(/*target*/50, /*input*/70)) << "target=50, input=70";
-	ASSERT_EQ( 0,  pid.iTerm) << "target=50, input=70 iTerm";
-
-	ASSERT_EQ( 0,  pid.getOutput(/*target*/50, /*input*/70)) << "target=50, input=70 #2";
-	ASSERT_EQ( 0,  pid.iTerm) << "target=50, input=70 iTerm #2";
-
-	ASSERT_EQ( 0,  pid.getOutput(/*target*/50, /*input*/50)) << "target=50, input=50";
-	ASSERT_EQ( 0,  pid.iTerm) << "target=50, input=50 iTerm";
-
-}
-
+// see also util.pid test
 TEST(idle, timingPid) {
 	print("******************************************* testTimingPidController\r\n");
 
diff --git a/unit_tests/tests/test_pid.cpp b/unit_tests/tests/test_pid.cpp
new file mode 100644
index 0000000000..426294d8bf
--- /dev/null
+++ b/unit_tests/tests/test_pid.cpp
@@ -0,0 +1,66 @@
+/*
+ * @file test_pid_auto.cpp
+ *
+ * @date Sep 29, 2019
+ * @author Andrey Belomutskiy, (c) 2012-2019
+ */
+
+// see also idle.timingPid test
+
+#include "unit_test_framework.h"
+#include "pid.h"
+
+TEST(util, pid) {
+	print("******************************************* testPidController\r\n");
+	pid_s pidS;
+	pidS.pFactor = 50;
+	pidS.iFactor = 0.5;
+	pidS.dFactor = 0;
+	pidS.offset = 0;
+	pidS.minValue = 10;
+	pidS.maxValue = 90;
+	pidS.periodMs = 1;
+
+	Pid pid(&pidS);
+
+	ASSERT_EQ( 90,  pid.getOutput(14, 12, 0.1)) << "getValue#90";
+
+
+	ASSERT_EQ( 10,  pid.getOutput(14, 16, 0.1)) << "getValue#10";
+	ASSERT_EQ(10, pid.getOutput(14, 16, 1));
+
+	pid.updateFactors(29, 0, 0);
+	ASSERT_EQ(10, pid.getOutput(14, 16, 1));
+//	ASSERT_EQ(68, pid.getIntegration());
+
+	ASSERT_EQ(10, pid.getOutput(14, 16, 1));
+//	ASSERT_EQ(0, pid.getIntegration());
+
+	ASSERT_EQ(10, pid.getOutput(14, 16, 1));
+//	ASSERT_EQ(68, pid.getIntegration());
+
+
+
+	pidS.pFactor = 1;
+	pidS.iFactor = 0;
+	pidS.dFactor = 0;
+	pidS.offset = 0;
+	pidS.minValue = 0;
+	pidS.maxValue = 100;
+	pidS.periodMs = 1;
+
+	pid.reset();
+
+	ASSERT_EQ( 50,  pid.getOutput(/*target*/50, /*input*/0)) << "target=50, input=0";
+	ASSERT_EQ( 0,  pid.iTerm) << "target=50, input=0 iTerm";
+
+	ASSERT_EQ( 0,  pid.getOutput(/*target*/50, /*input*/70)) << "target=50, input=70";
+	ASSERT_EQ( 0,  pid.iTerm) << "target=50, input=70 iTerm";
+
+	ASSERT_EQ( 0,  pid.getOutput(/*target*/50, /*input*/70)) << "target=50, input=70 #2";
+	ASSERT_EQ( 0,  pid.iTerm) << "target=50, input=70 iTerm #2";
+
+	ASSERT_EQ( 0,  pid.getOutput(/*target*/50, /*input*/50)) << "target=50, input=50";
+	ASSERT_EQ( 0,  pid.iTerm) << "target=50, input=50 iTerm";
+
+}
diff --git a/unit_tests/tests/test_pid_auto.cpp b/unit_tests/tests/test_pid_auto.cpp
index fb6920f9ac..6183759df4 100644
--- a/unit_tests/tests/test_pid_auto.cpp
+++ b/unit_tests/tests/test_pid_auto.cpp
@@ -1,8 +1,8 @@
 /*
- * test_pid_auto.cpp
+ * @file test_pid_auto.cpp
  *
- *  Created on: Sep 14, 2017
- * @author Andrey Belomutskiy, (c) 2012-2018
+ * @date Sep 14, 2017
+ * @author Andrey Belomutskiy, (c) 2012-2019
  */
 
 #include "global.h"
diff --git a/unit_tests/tests/tests.mk b/unit_tests/tests/tests.mk
index 9ec6665e81..2be44a7e07 100644
--- a/unit_tests/tests/tests.mk
+++ b/unit_tests/tests/tests.mk
@@ -25,6 +25,7 @@ TESTS_SRC_CPP = \
 	tests/test_cpp_memory_layout.cpp \
 	tests/test_sensors.cpp \
 	tests/test_pid_auto.cpp \
+	tests/test_pid.cpp \
 	tests/test_accel_enrichment.cpp \
 	tests/test_gpiochip.cpp \
 \