diff --git a/matlab/tests/main_runAllTests.m b/matlab/tests/main_runAllTests.m
index a28915d8e38cf93c1faa4821995cfbf4554191fa..1ae7a6e9029124bd0e2fbf636322ac1112bb1bac 100644
--- a/matlab/tests/main_runAllTests.m
+++ b/matlab/tests/main_runAllTests.m
@@ -12,5 +12,5 @@ test_GPSaidedINS_car
 test_GPSaidedINS_cycling
 test_gravity
 test_Nav_eq
-% test_q2dcm
+test_q2dcm
 % test_Rt2d
\ No newline at end of file
diff --git a/matlab/tests/test_q2dcm.m b/matlab/tests/test_q2dcm.m
new file mode 100644
index 0000000000000000000000000000000000000000..dad63f4ffdf09574c83788b2b9a27bea450a0075
--- /dev/null
+++ b/matlab/tests/test_q2dcm.m
@@ -0,0 +1,25 @@
+% test case for function q2dcm
+
+%purpose: test the function in a basic case to verify it runs correctly and
+%         returns a 3x3 matrix
+
+%oracle: verify that the output is an identity matrix for null rotation
+
+clear all             %clear workspace 
+close all
+cd ..                 %move to functions directory           
+
+%define inputs
+q=[0,0,0,0];
+
+%execute function
+R=q2dcm(q);
+
+cd tests              %go back to tests directory
+
+%verify output
+if ~(R==eye(3))
+    error('error in function q2dcm')
+else
+    disp('function q2dcm ok')
+end
\ No newline at end of file