diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 433a7d1f3..2d0d0eb5a 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -17,6 +17,7 @@ foreach(
 	tests_id_ringbuffer
 	tests_input_transform
 	tests_json
+	tests_lowpass
 	tests_lowpass_int
 	tests_pacing
 	tests_quatexpmap
@@ -34,6 +35,7 @@ endforeach()
 target_link_libraries(tests_cxx_wrappers PRIVATE xrt-interfaces)
 target_link_libraries(tests_history_buf PRIVATE aux_math)
 target_link_libraries(tests_input_transform PRIVATE st_oxr xrt-interfaces xrt-external-openxr)
+target_link_libraries(tests_lowpass PRIVATE aux_tracking)
 target_link_libraries(tests_lowpass_int PRIVATE aux_tracking)
 target_link_libraries(tests_quatexpmap PRIVATE aux_math)
 target_link_libraries(tests_rational PRIVATE aux_math)
diff --git a/tests/tests_lowpass.cpp b/tests/tests_lowpass.cpp
new file mode 100644
index 000000000..f20922dd6
--- /dev/null
+++ b/tests/tests_lowpass.cpp
@@ -0,0 +1,75 @@
+// Copyright 2022, Collabora, Ltd.
+// SPDX-License-Identifier: BSL-1.0
+/*!
+ * @file
+ * @brief Scalar float low pass filter tests.
+ * @author Ryan Pavlik <ryan.pavlik@collabora.com>
+ */
+
+#include <tracking/t_lowpass.hpp>
+
+#include "catch/catch.hpp"
+
+using xrt::auxiliary::tracking::LowPassIIRFilter;
+static constexpr float InitialState = 300;
+static constexpr timepoint_ns InitialTime = 12345;
+static constexpr timepoint_ns StepSize = U_TIME_1MS_IN_NS * 20;
+
+TEMPLATE_TEST_CASE("t_lowpass", "", float, double)
+{
+	LowPassIIRFilter<TestType> filter(100);
+
+	CHECK_FALSE(filter.isInitialized());
+	timepoint_ns now = InitialTime;
+
+	filter.addSample(InitialState, now);
+	CHECK(filter.getState() == InitialState);
+	CHECK(filter.getTimestampNs() == now);
+	CHECK(filter.isInitialized());
+
+	auto prev = filter.getState();
+	SECTION("Increase")
+	{
+		constexpr auto newTarget = InitialState * 2;
+		for (int i = 0; i < 20; ++i) {
+			now += StepSize;
+			filter.addSample(newTarget, now);
+			REQUIRE(filter.isInitialized());
+			CHECK(filter.getTimestampNs() == now);
+			// not going to exceed this
+			if (prev == newTarget) {
+				REQUIRE(filter.getState() == prev);
+			} else {
+				REQUIRE(filter.getState() > prev);
+				prev = filter.getState();
+			}
+		}
+	}
+
+	SECTION("Decrease")
+	{
+		constexpr auto newTarget = InitialState / 2;
+		for (int i = 0; i < 20; ++i) {
+			now += StepSize;
+			filter.addSample(newTarget, now);
+			REQUIRE(filter.isInitialized());
+			CHECK(filter.getTimestampNs() == now);
+			if (prev == newTarget) {
+				REQUIRE(filter.getState() == newTarget);
+			} else {
+				REQUIRE(filter.getState() < prev);
+				prev = filter.getState();
+			}
+		}
+	}
+	SECTION("Stay Same")
+	{
+		for (int i = 0; i < 20; ++i) {
+			now += StepSize;
+			filter.addSample(InitialState, now);
+			REQUIRE(filter.isInitialized());
+			CHECK(filter.getTimestampNs() == now);
+			REQUIRE(filter.getState() == InitialState);
+		}
+	}
+}