diff --git a/src/modules/sensors/vehicle_gps_position/gps_blending_test.cpp b/src/modules/sensors/vehicle_gps_position/gps_blending_test.cpp
index 353e78e4c0..31bc6ef191 100644
--- a/src/modules/sensors/vehicle_gps_position/gps_blending_test.cpp
+++ b/src/modules/sensors/vehicle_gps_position/gps_blending_test.cpp
@@ -48,9 +48,43 @@ using matrix::Vector3f;
 class GpsBlendingTest : public ::testing::Test
 {
 public:
+	sensor_gps_s getDefaultGpsData();
+
 	GpsBlending<2> _gps_blending;
 };
 
+sensor_gps_s GpsBlendingTest::getDefaultGpsData()
+{
+	sensor_gps_s gps_data{};
+	gps_data.timestamp = hrt_absolute_time() - 10e3; // microseconds
+	gps_data.time_utc_usec = 0;
+	gps_data.lat = 47e7;
+	gps_data.lon = 9e7;
+	gps_data.alt = 800e3;
+	gps_data.alt_ellipsoid = 800e3;
+	gps_data.s_variance_m_s = 0.2f;
+	gps_data.c_variance_rad = 0.5f;
+	gps_data.eph = 0.7f;
+	gps_data.epv = 1.2f;
+	gps_data.hdop = 1.f;
+	gps_data.vdop = 1.f;
+	gps_data.noise_per_ms = 20;
+	gps_data.jamming_indicator = 40;
+	gps_data.vel_m_s = 1.f;
+	gps_data.vel_n_m_s = 1.f;
+	gps_data.vel_e_m_s = 1.f;
+	gps_data.vel_d_m_s = 1.f;
+	gps_data.cog_rad = 0.f;
+	gps_data.timestamp_time_relative = 0;
+	gps_data.heading = NAN;
+	gps_data.heading_offset = 0.f;
+	gps_data.fix_type = 4;
+	gps_data.vel_ned_valid = true;
+	gps_data.satellites_used = 8;
+
+	return gps_data;
+}
+
 TEST_F(GpsBlendingTest, noData)
 {
 	EXPECT_EQ(_gps_blending.getSelectedGps(), 0);
@@ -61,3 +95,66 @@ TEST_F(GpsBlendingTest, noData)
 	EXPECT_EQ(_gps_blending.getSelectedGps(), 0);
 	EXPECT_FALSE(_gps_blending.isNewOutputDataAvailable());
 }
+
+TEST_F(GpsBlendingTest, singleReceiver)
+{
+	sensor_gps_s gps_data = getDefaultGpsData();
+
+	_gps_blending.setGpsData(gps_data, 1);
+	_gps_blending.update();
+
+	gps_data.timestamp = hrt_absolute_time() - 10e3;
+	_gps_blending.setGpsData(gps_data, 1);
+	_gps_blending.update();
+
+	EXPECT_EQ(_gps_blending.getSelectedGps(), 1);
+	EXPECT_EQ(_gps_blending.getNumberOfGpsSuitableForBlending(), 1);
+	EXPECT_TRUE(_gps_blending.isNewOutputDataAvailable());
+}
+
+TEST_F(GpsBlendingTest, dualReceiverNoBlending)
+{
+	sensor_gps_s gps_data0 = getDefaultGpsData();
+	sensor_gps_s gps_data1 = getDefaultGpsData();
+
+	gps_data1.satellites_used = gps_data0.satellites_used + 2; // gps1 has more satellites than gps0
+	_gps_blending.setGpsData(gps_data0, 0);
+	_gps_blending.setGpsData(gps_data1, 1);
+	_gps_blending.update();
+
+	// THEN: gps1 should be selected because it has more satellites
+	EXPECT_EQ(_gps_blending.getSelectedGps(), 1);
+	EXPECT_EQ(_gps_blending.getNumberOfGpsSuitableForBlending(), 2);
+	EXPECT_TRUE(_gps_blending.isNewOutputDataAvailable());
+
+	gps_data1.satellites_used = gps_data0.satellites_used - 2; // gps1 has less satellites than gps0
+	_gps_blending.setGpsData(gps_data0, 0);
+	_gps_blending.setGpsData(gps_data1, 1);
+	_gps_blending.update();
+
+	// THEN: gps0 should be selected because it has more satellites
+	EXPECT_EQ(_gps_blending.getSelectedGps(), 0);
+	EXPECT_EQ(_gps_blending.getNumberOfGpsSuitableForBlending(), 2);
+	EXPECT_TRUE(_gps_blending.isNewOutputDataAvailable());
+}
+
+TEST_F(GpsBlendingTest, dualReceiverBlendingHPos)
+{
+	sensor_gps_s gps_data0 = getDefaultGpsData();
+	sensor_gps_s gps_data1 = getDefaultGpsData();
+
+	_gps_blending.setBlendingUseHPosAccuracy(true);
+
+	gps_data1.eph = gps_data0.eph / 2.f;
+	_gps_blending.setGpsData(gps_data0, 0);
+	_gps_blending.setGpsData(gps_data1, 1);
+	_gps_blending.update();
+
+	// THEN: the blended instance should be selected (2)
+	// and the eph should be adjusted
+	EXPECT_EQ(_gps_blending.getSelectedGps(), 2);
+	EXPECT_EQ(_gps_blending.getNumberOfGpsSuitableForBlending(), 2);
+	EXPECT_TRUE(_gps_blending.isNewOutputDataAvailable());
+	EXPECT_LT(_gps_blending.getOutputGpsData().eph, gps_data0.eph);
+	EXPECT_FLOAT_EQ(_gps_blending.getOutputGpsData().eph, gps_data1.eph); // TODO: should be greater than
+}