diff --git a/tests/mav_frame_tests.rs b/tests/mav_frame_tests.rs
new file mode 100644
index 0000000000..fac00da30a
--- /dev/null
+++ b/tests/mav_frame_tests.rs
@@ -0,0 +1,45 @@
+pub mod test_shared;
+
+mod mav_frame_tests {
+    // NOTE: No header
+    pub const HEARTBEAT_V2: &[u8] = &[
+        crate::test_shared::COMMON_MSG_HEADER.sequence,
+        crate::test_shared::COMMON_MSG_HEADER.system_id,
+        crate::test_shared::COMMON_MSG_HEADER.component_id,
+        0x00, // msg ID
+        0x00,
+        0x00,
+        0x05, // payload - custom_mode
+        0x00, //
+        0x00, //
+        0x00, //
+        0x02, // mav_type
+        0x03, // autopilot
+        0x59, // base_mode
+        0x03, // system_status
+        0x03, // mavlink_version
+        0x10, // checksum
+        0xf0,
+    ];
+
+    #[test]
+    pub fn test_deser() {
+        use mavlink::{common::MavMessage, MavFrame, MavlinkVersion};
+        let frame = MavFrame::<MavMessage>::deser(MavlinkVersion::V2, HEARTBEAT_V2)
+            .expect("failed to parse message");
+
+        assert_eq!(frame.header, crate::test_shared::COMMON_MSG_HEADER);
+        let heartbeat_msg = crate::test_shared::get_heartbeat_msg();
+
+        let msg = match frame.msg {
+            MavMessage::HEARTBEAT(msg) => msg,
+            _ => panic!("Decoded wrong message type"),
+        };
+        assert_eq!(msg.custom_mode, heartbeat_msg.custom_mode);
+        assert_eq!(msg.mavtype, heartbeat_msg.mavtype);
+        assert_eq!(msg.autopilot, heartbeat_msg.autopilot);
+        assert_eq!(msg.base_mode, heartbeat_msg.base_mode);
+        assert_eq!(msg.system_status, heartbeat_msg.system_status);
+        assert_eq!(msg.mavlink_version, heartbeat_msg.mavlink_version);
+    }
+}
diff --git a/tests/v1_encode_decode_tests.rs b/tests/v1_encode_decode_tests.rs
index ad3addc167..892de2fe0b 100644
--- a/tests/v1_encode_decode_tests.rs
+++ b/tests/v1_encode_decode_tests.rs
@@ -9,9 +9,9 @@ mod test_v1_encode_decode {
     pub const HEARTBEAT_V1: &'static [u8] = &[
         mavlink::MAV_STX,
         0x09,
-        0xef,
-        0x01,
-        0x01,
+        crate::test_shared::COMMON_MSG_HEADER.sequence,
+        crate::test_shared::COMMON_MSG_HEADER.system_id,
+        crate::test_shared::COMMON_MSG_HEADER.component_id,
         0x00,
         0x05,
         0x00,
diff --git a/tests/v2_encode_decode_tests.rs b/tests/v2_encode_decode_tests.rs
index b6cfd8b2fa..fa0a712ae6 100644
--- a/tests/v2_encode_decode_tests.rs
+++ b/tests/v2_encode_decode_tests.rs
@@ -10,9 +10,9 @@ mod test_v2_encode_decode {
         0x09,                //payload len
         0,                   //incompat flags
         0,                   //compat flags
-        0xef,                //seq 239
-        0x01,                //sys ID
-        0x01,                //comp ID
+        crate::test_shared::COMMON_MSG_HEADER.sequence,
+        crate::test_shared::COMMON_MSG_HEADER.system_id,
+        crate::test_shared::COMMON_MSG_HEADER.component_id,
         0x00,
         0x00,
         0x00, //msg ID