diff --git a/matlab/tests/main_runAllTests.m b/matlab/tests/main_runAllTests.m
index cf1de78d6483209a711687f00ff32b19231051e6..a28915d8e38cf93c1faa4821995cfbf4554191fa 100644
--- a/matlab/tests/main_runAllTests.m
+++ b/matlab/tests/main_runAllTests.m
@@ -10,13 +10,7 @@ test_gps_randomized_car
 test_gps_randomized_cycling
 test_GPSaidedINS_car
 test_GPSaidedINS_cycling
-% test_gravity
-% test_main_car
-% test_main_cycling
-% test_main_tradeoff_car
-% test_main_tradeoff_cycling
-% test_Nav_eq
-% test_plot_single_trace
-% test_plot_tradeoff
+test_gravity
+test_Nav_eq
 % test_q2dcm
 % test_Rt2d
\ No newline at end of file
diff --git a/matlab/tests/test_Nav_eq.m b/matlab/tests/test_Nav_eq.m
new file mode 100644
index 0000000000000000000000000000000000000000..bfb7bb46cf7358691146ffcb676ac5594bca2ff5
--- /dev/null
+++ b/matlab/tests/test_Nav_eq.m
@@ -0,0 +1,27 @@
+% test case for function Nav_eq
+
+%purpose: verifies that the function runs correctly 
+
+%oracle:  the dimension of the output are 10x1 since it is a position,
+%         velocity and attitude expressed with a quaternion
+
+clear all             %clear workspace 
+close all
+cd ..                 %move to functions directory           
+
+%define input data
+rng(1);
+x=rand(10,1);
+u=rand(6,1);
+dt=0.1;
+%execute function
+x=Nav_eq(x,u,dt);
+
+cd tests              %go back to tests directory
+
+%verify output
+if ~(size(x)==[10,1])
+    error('error in function Nav_eq')
+else
+    disp('function Nav_eq ok')
+end
\ No newline at end of file
diff --git a/matlab/tests/test_gravity.m b/matlab/tests/test_gravity.m
index 53108ba48210fd9a77175e98cacee1122abae667..66a86e0689b06fed83796f34f0adc1bccffaf7de 100644
--- a/matlab/tests/test_gravity.m
+++ b/matlab/tests/test_gravity.m
@@ -12,7 +12,7 @@ cd ..                 %move to functions directory
 %execute function
 rng(1);
 lambda=10*rand(1);
-h=200;
+h=100*rand(1);
 g=gravity(lambda,h);
 
 cd tests              %go back to tests directory