diff --git a/CMakeLists.txt b/CMakeLists.txt
index b5369a8580e1b65fa13d3c70e17929555bf10d87..a840d854befa803a96f6c734c641256f6b8ffccc 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -309,6 +309,9 @@ add_executable(test-ubloxgps-spi src/tests/sensors/test-ubloxgps.cpp)
 target_compile_definitions(test-ubloxgps-spi PRIVATE USE_SPI)
 sbs_target(test-ubloxgps-spi stm32f407vg_stm32f4discovery)
 
+add_executable(test-ubxgps-serial src/tests/sensors/test-ubxgps-serial.cpp)
+sbs_target(test-ubxgps-serial stm32f429zi_stm32f4discovery)
+
 add_executable(test-vn100 src/tests/sensors/test-vn100.cpp)
 sbs_target(test-vn100 stm32f407vg_stm32f4discovery)
 
diff --git a/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp b/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp
index 4bd60787c5a033840be60e2b64a2bb4c4e218bda..41006faf446caf88da6c4fba667ac11e1d8be2a5 100644
--- a/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp
+++ b/src/shared/sensors/UBXGPS/UBXGPSSerial.cpp
@@ -57,12 +57,12 @@ bool UBXGPSSerial::init()
 
     LOG_DEBUG(logger, "Resetting the device...");
 
-    if (!reset())
-    {
-        lastError = SensorErrors::INIT_FAIL;
-        LOG_ERR(logger, "Could not reset the device");
-        return false;
-    }
+    // if (!reset())
+    // {
+    //     lastError = SensorErrors::INIT_FAIL;
+    //     LOG_ERR(logger, "Could not reset the device");
+    //     return false;
+    // }
 
     LOG_DEBUG(logger, "Setting the UBX protocol...");
 
diff --git a/src/tests/sensors/test-ubxgps-serial.cpp b/src/tests/sensors/test-ubxgps-serial.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..316b049f574822b53390dc663b83b226511ed990
--- /dev/null
+++ b/src/tests/sensors/test-ubxgps-serial.cpp
@@ -0,0 +1,95 @@
+/* Copyright (c) 2021 Skyward Experimental Rocketry
+ * Authors: Davide Bonomini, Davide Mor, Alberto Nidasio
+ *
+ * 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 <drivers/timer/TimestampTimer.h>
+#include <miosix.h>
+#include <sensors/UBXGPS/UBXGPSSerial.h>
+#include <utils/Debug.h>
+
+#include <cstdio>
+
+using namespace Boardcore;
+using namespace miosix;
+
+#define RATE 4
+
+int main()
+{
+    (void)TimestampTimer::getInstance();
+
+    printf("Welcome to the ublox test\n");
+
+    GpioPin tx = GpioPin(GPIOD_BASE, 5);
+    tx.mode(miosix::Mode::ALTERNATE);
+    tx.alternateFunction(7);
+
+    // Keep GPS baud rate at default for easier testing
+    UBXGPSSerial gps(38400, RATE, 2, "gps", 9600);
+    UBXGPSData dataGPS;
+    printf("Gps allocated\n");
+
+    // Init the gps
+    if (gps.init())
+    {
+        printf("Successful gps initialization\n");
+    }
+    else
+    {
+        printf("Failed gps initialization\n");
+    }
+
+    // Perform the selftest
+    if (gps.selfTest())
+    {
+        printf("Successful gps selftest\n");
+    }
+    else
+    {
+        printf("Failed gps selftest\n");
+    }
+
+    // Start the gps thread
+    gps.start();
+    printf("Gps started\n");
+
+    while (true)
+    {
+        printf("a\n");
+        // Give time to the thread
+        Thread::sleep(1000 / RATE);
+
+        // Sample
+        gps.sample();
+        printf("b\n");
+        dataGPS = gps.getLastSample();
+
+        // Print out the latest sample
+        printf(
+            "[gps] timestamp: % 4.3f, fix: %01d lat: % f lon: % f "
+            "height: %4.1f nsat: %2d speed: %3.2f velN: % 3.2f velE: % 3.2f "
+            "track %3.1f\n",
+            (float)dataGPS.gpsTimestamp / 1000000, dataGPS.fix,
+            dataGPS.latitude, dataGPS.longitude, dataGPS.height,
+            dataGPS.satellites, dataGPS.speed, dataGPS.velocityNorth,
+            dataGPS.velocityEast, dataGPS.track);
+    }
+}