diff --git a/test/test_px4.py b/test/test_px4.py
new file mode 100644
index 0000000..af491fa
--- /dev/null
+++ b/test/test_px4.py
@@ -0,0 +1,83 @@
+'''
+Tests the PX4ULog class
+'''
+
+import os
+import inspect
+import unittest
+
+from ddt import ddt, data
+
+from pyulog import ULog
+from pyulog.px4 import PX4ULog
+from pyulog.db import DatabaseULog
+from pyulog.migrate_db import migrate_db
+
+TEST_PATH = os.path.dirname(os.path.abspath(
+    inspect.getfile(inspect.currentframe())))
+
+@ddt
+class TestPX4ULog(unittest.TestCase):
+    '''
+    Tests the PX4ULog class
+    '''
+
+    def setUp(self):
+        '''
+        Set up the test database.
+        '''
+        self.db_path = os.path.join(TEST_PATH, 'pyulog_test.sqlite3')
+        self.db_handle = DatabaseULog.get_db_handle(self.db_path)
+        migrate_db(self.db_path)
+
+
+    def tearDown(self):
+        '''
+        Remove the test database after use.
+        '''
+        os.remove(self.db_path)
+
+    @data('sample',
+          'sample_appended',
+          'sample_appended_multiple',
+          'sample_logging_tagged_and_default_params')
+    def test_add_roll_pitch_yaw(self, base_name):
+        '''
+        Test that add_roll_pitch_yaw correctly adds RPY values to 'vehicle_attitude'
+        '''
+        ulog_file_name = os.path.join(TEST_PATH, base_name + '.ulg')
+        ulog = ULog(ulog_file_name)
+        px4 = PX4ULog(ulog)
+        px4.add_roll_pitch_yaw()
+
+        dataset = ulog.get_dataset('vehicle_attitude')
+        assert 'roll' in dataset.data
+        assert 'pitch' in dataset.data
+        assert 'yaw' in dataset.data
+
+    @data('sample',
+          'sample_appended',
+          'sample_appended_multiple',
+          'sample_logging_tagged_and_default_params')
+    def test_add_roll_pitch_yaw_db(self, base_name):
+        '''
+        Test that add_roll_pitch_yaw correctly adds RPY values to
+        'vehicle_attitude' on a DatabaseULog object.
+        '''
+        ulog_file_name = os.path.join(TEST_PATH, base_name + '.ulg')
+        dbulog = DatabaseULog(self.db_handle, log_file=ulog_file_name)
+        dbulog.save()
+        del dbulog
+        digest = DatabaseULog.calc_sha256sum(ulog_file_name)
+        primary_key = DatabaseULog.primary_key_from_sha256sum(self.db_handle, digest)
+        dbulog = DatabaseULog(self.db_handle, primary_key=primary_key, lazy=False)
+        px4 = PX4ULog(dbulog)
+        px4.add_roll_pitch_yaw()
+
+        dataset = dbulog.get_dataset('vehicle_attitude')
+        assert 'roll' in dataset.data
+        assert 'pitch' in dataset.data
+        assert 'yaw' in dataset.data
+
+
+# vim: set et fenc=utf-8 ft=python ff=unix sts=4 sw=4 ts=4