diff --git a/CMakeLists.txt b/CMakeLists.txt
index 4fe5fc432f1f6519dd90a20b41a4aecb3df307f1..9b80efc275e0bc8af717e4b1b6a47d272076775d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -487,6 +487,9 @@ sbs_target(test-lps22df stm32f767zi_nucleo)
 add_executable(test-lsm6dsrx src/tests/sensors/test-lsm6dsrx.cpp)
 sbs_target(test-lsm6dsrx stm32f407vg_stm32f4discovery)
 
+add_executable(test-gyro_to_angles src/tests/sensors/test-vn300_gyro_to_angles.cpp)
+sbs_target(test-gyro_to_angles stm32f767zi_lyra_gs)
+
 #-----------------------------------------------------------------------------#
 #                                Tests - Utils                                #
 #-----------------------------------------------------------------------------#
diff --git a/src/tests/sensors/test-vn300.cpp b/src/tests/sensors/test-vn300.cpp
index 408165eb3ec1d021767c4fe705242a927c83a368..e1b89b61b5988c15545d5f013967e1e754f6a7c7 100644
--- a/src/tests/sensors/test-vn300.cpp
+++ b/src/tests/sensors/test-vn300.cpp
@@ -87,4 +87,4 @@ int main()
     printf("Sensor communication closed!\n");
 
     return 0;
-}
+}
\ No newline at end of file
diff --git a/src/tests/sensors/test-vn300_gyro_to_angles.cpp b/src/tests/sensors/test-vn300_gyro_to_angles.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..dd334429e0da7a684124192e51f3aa59da86e244
--- /dev/null
+++ b/src/tests/sensors/test-vn300_gyro_to_angles.cpp
@@ -0,0 +1,152 @@
+/* Copyright (c) 2023 Skyward Experimental Rocketry
+ * Authors: Lorenzo Cucchi, Fabrizio Monti
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ */
+
+
+#include <iostream>
+#include <Eigen/Dense>
+#include <vector>
+#include <cmath>
+
+
+#include <sensors/Vectornav/VN300/VN300.h>
+#include <drivers/timer/TimestampTimer.h>
+#include "interfaces-impl/hwmapping.h"
+
+
+
+using namespace std;
+using namespace Eigen;
+
+using namespace miosix;
+using namespace Boardcore;
+
+
+
+struct LogAngles{
+
+    float roll,pitch,yaw;
+
+    LogAngles() : roll{0}, pitch{0},yaw(0) {}
+    LogAngles(float Roll, float Pitch,float Yaw) : roll{Roll}, pitch{Pitch},yaw(Yaw) {}
+
+    void getAngles(float x, float y, float z){
+        this->roll = x;
+        this->pitch = y;
+        this->yaw = z;
+    }
+
+    static std::string header()
+    {
+        return "Roll,Pitch,Yaw,quaternionZ\n";
+    }
+
+    void print(std::ostream& os) const
+    {
+        os << roll << "," << pitch << "," << yaw << "\n";
+    }
+
+};
+
+
+
+void computeEulerAngles(const Vector3d& gyro, double dt, Vector3d& angles) {
+   
+        Vector3d body_rate = gyro;
+        Vector3d ass = angles;
+        
+        Matrix3d G;
+        G << cos(ass(1)), 0, -cos(ass(0)) * sin(ass(1)),
+             0,           1,  sin(ass(0)),
+             sin(ass(1)), 0,  cos(ass(0)) * cos(ass(1)); //rotation matrix angular_rate --> body_rate
+
+        Vector3d angular_rate = G.transpose() * body_rate;
+
+        Vector3d new_angles = angles + angular_rate * dt; //integration
+        angles = new_angles;
+    
+    //rad --> deg
+    for(int i = 0 ; i<3; i++) angles(i) *= (180/ M_PI);
+
+}
+
+
+int main(){
+
+    const double dt = 20000; // [us]
+    LogAngles angles_log;
+    
+
+    VN300Data sample;
+
+    const int baud = 115200;
+    USART usart(USART2, baud);
+    VN300 sensor(usart, baud, VN300Defs::SampleOptions::FULL,
+                 VN300::CRCOptions::CRC_ENABLE_8,
+                 std::chrono::milliseconds(10));
+
+    // Let the sensor start up
+    Thread::sleep(1000);
+
+    printf("Initializing sensor\n");
+    if (!sensor.init())
+    {
+        printf("Error initializing the sensor!\n");
+        return 0;
+    }
+
+    printf("Running self-test\n");
+    if (!sensor.selfTest())
+    {
+        printf("Unable to execute self-test\n");
+        return 0;
+    }
+
+    
+    uint64_t t0 = TimestampTimer::getTimestamp();
+    Vector3d angles = {0,0,0};
+    
+    while(true){
+
+        uint64_t t1 = TimestampTimer::getTimestamp();
+
+        if(t1 - t0 >= dt){
+
+            sensor.sample();
+            Logger::getInstance().log(sensor.getLastSample()); // getting last sample & log
+
+            Vector3d gyro = {sample.angularSpeedX, sample.angularSpeedY, sample.angularSpeedZ};
+            
+            computeEulerAngles(gyro,dt,angles);
+
+            angles_log.getAngles(angles(0),angles(1),angles(2));
+            Boardcore::Logger::getInstance().log(angles_log);
+
+            t0 = TimestampTimer::getTimestamp();
+        }
+    }
+    
+
+
+    return 0;
+}
+
+