diff --git a/src/main/sensors/boardalignment.c b/src/main/sensors/boardalignment.c
index a455936e6..f927ba72f 100644
--- a/src/main/sensors/boardalignment.c
+++ b/src/main/sensors/boardalignment.c
@@ -44,9 +44,9 @@ void initBoardAlignment(boardAlignment_t *boardAlignment)
     standardBoardAlignment = false;
 
     fp_angles_t rotationAngles;
-    rotationAngles.angles.roll = degreesToRadians(boardAlignment->rollDegrees);
+    rotationAngles.angles.roll  = degreesToRadians(boardAlignment->rollDegrees );
     rotationAngles.angles.pitch = degreesToRadians(boardAlignment->pitchDegrees);
-    rotationAngles.angles.yaw = degreesToRadians(boardAlignment->yawDegrees);
+    rotationAngles.angles.yaw   = degreesToRadians(boardAlignment->yawDegrees  );
 
     buildRotationMatrix(&rotationAngles, boardRotation);
 }
diff --git a/src/test/Makefile b/src/test/Makefile
index ef28bf22d..b48353663 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -512,6 +512,30 @@ $(OBJECT_DIR)/baro_bmp085_unittest : \
 
 	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
 
+$(OBJECT_DIR)/sensors/boardalignment.o : \
+	$(USER_DIR)/sensors/boardalignment.c \
+	$(USER_DIR)/sensors/boardalignment.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CC) $(C_FLAGS) $(TEST_CFLAGS) -c $(USER_DIR)/sensors/boardalignment.c -o $@
+
+$(OBJECT_DIR)/alignsensor_unittest.o : \
+	$(TEST_DIR)/alignsensor_unittest.cc \
+	$(USER_DIR)/sensors/boardalignment.h \
+	$(GTEST_HEADERS)
+
+	@mkdir -p $(dir $@)
+	$(CXX) $(CXX_FLAGS) $(TEST_CFLAGS) -c $(TEST_DIR)/alignsensor_unittest.cc -o $@
+
+$(OBJECT_DIR)/alignsensor_unittest : \
+	$(OBJECT_DIR)/common/maths.o \
+	$(OBJECT_DIR)/sensors/boardalignment.o \
+	$(OBJECT_DIR)/alignsensor_unittest.o \
+	$(OBJECT_DIR)/gtest_main.a
+
+	$(CXX) $(CXX_FLAGS) $^ -o $(OBJECT_DIR)/$@
+
 test: $(TESTS:%=test-%)
 
 test-%: $(OBJECT_DIR)/%
diff --git a/src/test/unit/alignsensor_unittest.cc b/src/test/unit/alignsensor_unittest.cc
new file mode 100644
index 000000000..674ed9572
--- /dev/null
+++ b/src/test/unit/alignsensor_unittest.cc
@@ -0,0 +1,269 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include "math.h"
+#include "stdint.h"
+#include "time.h"
+
+extern "C" {
+#include "common/axis.h"
+#include "sensors/boardalignment.h"
+#include "sensors/sensors.h"
+}
+
+#include "gtest/gtest.h"
+
+/*
+ * This test file contains an independent method of rotating a vector.
+ * The output of alignSensor() is compared to the output of the test
+ * rotation method.
+ * 
+ * For each alignment condition (CW0, CW90, etc) the source vector under
+ * test is set to a unit vector along each axis (x-axis, y-axis, z-axis) 
+ * plus one additional random vector is tested.
+ */
+
+#define DEG2RAD 0.01745329251
+
+static void rotateVector(int16_t mat[3][3], int16_t vec[3], int16_t *out)
+{
+    int16_t tmp[3];
+
+    for(int i=0; i<3; i++) {
+        tmp[i] = 0;
+        for(int j=0; j<3; j++) {
+            tmp[i] += mat[j][i] * vec[j];
+        }
+    }
+    
+    out[0]=tmp[0];
+    out[1]=tmp[1];
+    out[2]=tmp[2];
+
+}
+
+//static void initXAxisRotation(int16_t mat[][3], int16_t angle)
+//{
+//    mat[0][0] =  1;
+//    mat[0][1] =  0;
+//    mat[0][2] =  0;
+//    mat[1][0] =  0;
+//    mat[1][1] =  cos(angle*DEG2RAD);
+//    mat[1][2] = -sin(angle*DEG2RAD);
+//    mat[2][0] =  0;
+//    mat[2][1] =  sin(angle*DEG2RAD);
+//    mat[2][2] =  cos(angle*DEG2RAD);
+//}
+
+static void initYAxisRotation(int16_t mat[][3], int16_t angle)
+{
+    mat[0][0] =  cos(angle*DEG2RAD);
+    mat[0][1] =  0;
+    mat[0][2] =  sin(angle*DEG2RAD);
+    mat[1][0] =  0;
+    mat[1][1] =  1;
+    mat[1][2] =  0;
+    mat[2][0] = -sin(angle*DEG2RAD);
+    mat[2][1] =  0;
+    mat[2][2] =  cos(angle*DEG2RAD);
+}
+
+static void initZAxisRotation(int16_t mat[][3], int16_t angle)
+{
+    mat[0][0] =  cos(angle*DEG2RAD);
+    mat[0][1] = -sin(angle*DEG2RAD);
+    mat[0][2] =  0;
+    mat[1][0] =  sin(angle*DEG2RAD);
+    mat[1][1] =  cos(angle*DEG2RAD);
+    mat[1][2] =  0;
+    mat[2][0] =  0;
+    mat[2][1] =  0;
+    mat[2][2] =  1;
+}
+
+static void testCW(sensor_align_e rotation, int16_t angle)
+{
+    int16_t src[XYZ_AXIS_COUNT];
+    int16_t dest[XYZ_AXIS_COUNT];
+    int16_t test[XYZ_AXIS_COUNT];
+
+    // unit vector along x-axis
+    src[X] = 1;
+    src[Y] = 0;
+    src[Z] = 0;
+    
+    int16_t matrix[3][3];
+    initZAxisRotation(matrix, angle);
+    rotateVector(matrix, src, test);
+
+    alignSensors(src, dest, rotation);
+    EXPECT_EQ(test[X], dest[X]) << "X-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
+    EXPECT_EQ(test[Y], dest[Y]) << "X-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
+    EXPECT_EQ(test[Z], dest[Z]) << "X-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+
+    // unit vector along y-axis
+    src[X] = 0;
+    src[Y] = 1;
+    src[Z] = 0;
+
+    rotateVector(matrix, src, test);
+    alignSensors(src, dest, rotation);
+    EXPECT_EQ(test[X], dest[X]) << "Y-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
+    EXPECT_EQ(test[Y], dest[Y]) << "Y-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
+    EXPECT_EQ(test[Z], dest[Z]) << "Y-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+
+    // unit vector along z-axis
+    src[X] = 0;
+    src[Y] = 0;
+    src[Z] = 1;
+
+    rotateVector(matrix, src, test);
+    alignSensors(src, dest, rotation);
+    EXPECT_EQ(test[X], dest[X]) << "Z-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
+    EXPECT_EQ(test[Y], dest[Y]) << "Z-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
+    EXPECT_EQ(test[Z], dest[Z]) << "Z-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+
+    // random vector to test
+    src[X] = rand() % 5;
+    src[Y] = rand() % 5;
+    src[Z] = rand() % 5;
+
+    rotateVector(matrix, src, test);
+    alignSensors(src, dest, rotation);
+    EXPECT_EQ(test[X], dest[X]) << "Random alignment does not match in X-Axis. " << test[X] << " " << dest[X];
+    EXPECT_EQ(test[Y], dest[Y]) << "Random alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
+    EXPECT_EQ(test[Z], dest[Z]) << "Random alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+}
+
+/*
+ * Since the order of flip and rotation matters, these tests make the
+ * assumption that the 'flip' occurs first, followed by clockwise rotation
+ */
+static void testCWFlip(sensor_align_e rotation, int16_t angle)
+{
+    int16_t src[XYZ_AXIS_COUNT];
+    int16_t dest[XYZ_AXIS_COUNT];
+    int16_t test[XYZ_AXIS_COUNT];
+
+    // unit vector along x-axis
+    src[X] = 1;
+    src[Y] = 0;
+    src[Z] = 0;
+    
+    int16_t matrix[3][3];
+    initYAxisRotation(matrix, 180);
+    rotateVector(matrix, src, test);
+    initZAxisRotation(matrix, angle);
+    rotateVector(matrix, test, test);
+
+    alignSensors(src, dest, rotation);
+
+    EXPECT_EQ(test[X], dest[X]) << "X-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
+    EXPECT_EQ(test[Y], dest[Y]) << "X-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
+    EXPECT_EQ(test[Z], dest[Z]) << "X-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+
+    // unit vector along y-axis
+    src[X] = 0;
+    src[Y] = 1;
+    src[Z] = 0;
+
+    initYAxisRotation(matrix, 180);
+    rotateVector(matrix, src, test);
+    initZAxisRotation(matrix, angle);
+    rotateVector(matrix, test, test);
+
+    alignSensors(src, dest, rotation);
+
+    EXPECT_EQ(test[X], dest[X]) << "Y-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
+    EXPECT_EQ(test[Y], dest[Y]) << "Y-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
+    EXPECT_EQ(test[Z], dest[Z]) << "Y-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+
+    // unit vector along z-axis
+    src[X] = 0;
+    src[Y] = 0;
+    src[Z] = 1;
+
+    initYAxisRotation(matrix, 180);
+    rotateVector(matrix, src, test);
+    initZAxisRotation(matrix, angle);
+    rotateVector(matrix, test, test);
+
+    alignSensors(src, dest, rotation);
+
+    EXPECT_EQ(test[X], dest[X]) << "Z-Unit alignment does not match in X-Axis. " << test[X] << " " << dest[X];
+    EXPECT_EQ(test[Y], dest[Y]) << "Z-Unit alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
+    EXPECT_EQ(test[Z], dest[Z]) << "Z-Unit alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+
+     // random vector to test
+    src[X] = rand() % 5;
+    src[Y] = rand() % 5;
+    src[Z] = rand() % 5;
+
+    initYAxisRotation(matrix, 180);
+    rotateVector(matrix, src, test);
+    initZAxisRotation(matrix, angle);
+    rotateVector(matrix, test, test);
+
+    alignSensors(src, dest, rotation);
+
+    EXPECT_EQ(test[X], dest[X]) << "Random alignment does not match in X-Axis. " << test[X] << " " << dest[X];
+    EXPECT_EQ(test[Y], dest[Y]) << "Random alignment does not match in Y-Axis. " << test[Y] << " " << dest[Y];
+    EXPECT_EQ(test[Z], dest[Z]) << "Random alignment does not match in Z-Axis. " << test[Z] << " " << dest[Z];
+}
+ 
+
+TEST(AlignSensorTest, ClockwiseZeroDegrees)
+{
+    srand(time(NULL));
+    testCW(CW0_DEG, 0);
+}
+
+TEST(AlignSensorTest, ClockwiseNinetyDegrees)
+{
+    testCW(CW90_DEG, 90);
+}
+
+TEST(AlignSensorTest, ClockwiseOneEightyDegrees)
+{
+    testCW(CW180_DEG, 180);
+}
+
+TEST(AlignSensorTest, ClockwiseTwoSeventyDegrees)
+{
+    testCW(CW270_DEG, 270);
+}
+
+TEST(AlignSensorTest, ClockwiseZeroDegreesFlip)
+{
+    testCWFlip(CW0_DEG_FLIP, 0);
+}
+
+TEST(AlignSensorTest, ClockwiseNinetyDegreesFlip)
+{
+    testCWFlip(CW90_DEG_FLIP, 90);
+}
+
+TEST(AlignSensorTest, ClockwiseOneEightyDegreesFlip)
+{
+    testCWFlip(CW180_DEG_FLIP, 180);
+}
+
+TEST(AlignSensorTest, ClockwiseTwoSeventyDegreesFlip)
+{
+    testCWFlip(CW270_DEG_FLIP, 270);
+}
+