diff --git a/src/test/Makefile b/src/test/Makefile
index fcea264467..3300462508 100644
--- a/src/test/Makefile
+++ b/src/test/Makefile
@@ -167,6 +167,10 @@ flight_mixer_unittest :=  \
 gps_conversion_unittest_SRC := \
 		$(USER_DIR)/common/gps_conversion.c
 
+gps_nmea_unittest_SRC := \
+		$(USER_DIR)/io/gps_utils.c \
+		$(USER_DIR)/common/printf.c \
+		$(USER_DIR)/common/typeconversion.c
 
 io_serial_unittest_SRC := \
 		$(USER_DIR)/io/serial.c \
diff --git a/src/test/unit/gps_nmea_unittest.cc b/src/test/unit/gps_nmea_unittest.cc
new file mode 100644
index 0000000000..847aa6d43a
--- /dev/null
+++ b/src/test/unit/gps_nmea_unittest.cc
@@ -0,0 +1,82 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <string.h>
+
+extern "C" {
+    #include "platform.h"
+
+    #include "drivers/serial.h"
+    #include "io/serial.h"
+
+    #include "io/gps_utils.h"
+}
+
+#include "unittest_macros.h"
+#include "gtest/gtest.h"
+
+static serialPort_t *gpsPort;
+static int serialWritePos = 0;
+
+#define SERIAL_BUFFER_SIZE 256
+static uint8_t serialWriteBuffer[SERIAL_BUFFER_SIZE];
+
+serialPort_t serialTestInstance;
+
+void serialWrite(serialPort_t *instance, uint8_t ch)
+{
+    EXPECT_EQ(instance, &serialTestInstance);
+    EXPECT_LT(serialWritePos, sizeof(serialWriteBuffer));
+    serialWriteBuffer[serialWritePos++] = ch;
+}
+
+void serialWriteBuf(serialPort_t *instance, const uint8_t *data, int count)
+{
+    while(count--)
+        serialWrite(instance, *data++);
+}
+
+void serialTestResetBuffers()
+{
+    gpsPort = &serialTestInstance;
+    memset(&serialWriteBuffer, 0, sizeof(serialWriteBuffer));
+    serialWritePos = 0;
+}
+
+
+// list of valid NMEA commands
+const char * nmeaSamples[] = {
+    "$PUBX,41,1,0003,0001,38400,0*26\r\n",
+    "$PSRF103,00,6,00,0*23\r\n",
+    "$PCAS02,100*1E\r\n",
+    "$PSRF103,03,00,00,01*27\r\n",
+};
+
+TEST(nmeaUtilsTest, TestNmeaPrintf)
+{
+    for (unsigned i = 0; i < ARRAYLEN(nmeaSamples); i++) {
+        serialTestResetBuffers();
+        const char* sample = nmeaSamples[i];
+        int starPos = strcspn(sample, "*");
+        EXPECT_EQ(strlen(sample) - strlen("*XX\r\n"), starPos);
+        const char* tx = strndup(sample, starPos);
+        nmeaPrintf(gpsPort, "%s", tx);
+        serialWrite(gpsPort, 0);  // terminate string for simplicity
+        free((void*)tx);
+        ASSERT_STREQ((const char*)serialWriteBuffer, sample);
+    }
+}