diff --git a/libs/main/math/pimathmatrix.h b/libs/main/math/pimathmatrix.h
index 783c1a6a..399afdd6 100644
--- a/libs/main/math/pimathmatrix.h
+++ b/libs/main/math/pimathmatrix.h
@@ -63,9 +63,9 @@ class PIP_EXPORT PIMathMatrixT {
     typedef PIMathMatrixT<Cols, Rows, Type> _CMatrixI;
     typedef PIMathVectorT<Rows, Type> _CMCol;
     typedef PIMathVectorT<Cols, Type> _CMRow;
-	static_assert(std::is_arithmetic<Type>::value, "Type must be arithmetic");
-	static_assert(Rows > 0, "Row count must be > 0");
-	static_assert(Cols > 0, "Column count must be > 0");
+    static_assert(std::is_arithmetic<Type>::value, "Type must be arithmetic");
+    static_assert(Rows > 0, "Row count must be > 0");
+    static_assert(Cols > 0, "Column count must be > 0");
 public:
 	PIMathMatrixT() {resize(Rows, Cols);}
 	PIMathMatrixT(const PIVector<Type> & val) {resize(Rows, Cols); int i = 0; PIMM_FOR_I_WB(r, c) m[r][c] = val[i++];}
@@ -86,7 +86,7 @@ public:
 	static _CMatrix filled(const Type & v) {_CMatrix tm; PIMM_FOR_WB(r, c) tm.m[r][c] = v; return tm;}
 
     /**
-     * @brief Rotation the matrix by an "angle"
+     * @brief Rotation the matrix by an "angle". Works only with 2x2 matrix, else return _CMatrix
      *
      * @param angle is the angle of rotation of the matrix
      * @return rotated matrix
@@ -94,7 +94,7 @@ public:
 	static _CMatrix rotation(double angle) {return _CMatrix();}
 
     /**
-     * @brief Rotation of the matrix by an "angle" along the X axis
+     * @brief Rotation of the matrix by an "angle" along the X axis. Works only with 3x3 matrix, else return _CMatrix
      *
      * @param angle is the angle of rotation of the matrix along the X axis
      * @return rotated matrix
@@ -102,7 +102,7 @@ public:
 	static _CMatrix rotationX(double angle) {return _CMatrix();}
 
     /**
-     * @brief Rotation of the matrix by an "angle" along the Y axis
+     * @brief Rotation of the matrix by an "angle" along the Y axis. Works only with 3x3 matrix, else return _CMatrix
      *
      * @param angle is the angle of rotation of the matrix along the Y axis
      * @return rotated matrix
@@ -110,7 +110,7 @@ public:
 	static _CMatrix rotationY(double angle) {return _CMatrix();}
 
     /**
-     * @brief Rotation of the matrix by an "angle" along the Z axis
+     * @brief Rotation of the matrix by an "angle" along the Z axis. Works only with 3x3 matrix, else return _CMatrix
      *
      * @param angle is the angle of rotation of the matrix along the Z axis
      * @return rotated matrix
@@ -118,7 +118,7 @@ public:
 	static _CMatrix rotationZ(double angle) {return _CMatrix();}
 
     /**
-     * @brief Scaling the matrix along the X axis by the value "factor"
+     * @brief Scaling the matrix along the X axis by the value "factor". Works only with 3x3 and 2x2 matrix, else return _CMatrix
      *
      * @param factor is the value of scaling by X axis
      * @return rotated matrix
@@ -126,7 +126,7 @@ public:
 	static _CMatrix scaleX(double factor) {return _CMatrix();}
 
     /**
-     * @brief Scaling the matrix along the Y axis by the value "factor"
+     * @brief Scaling the matrix along the Y axis by the value "factor". Works only with 3x3 and 2x2 matrix, else return _CMatrix
      *
      * @param factor is the value of scaling by Y axis
      * @return rotated matrix
@@ -134,7 +134,7 @@ public:
 	static _CMatrix scaleY(double factor) {return _CMatrix();}
 
     /**
-     * @brief Scaling the matrix along the Z axis by the value "factor"
+     * @brief Scaling the matrix along the Z axis by the value "factor". Works only with 3x3 matrix, else return _CMatrix
      *
      * @param factor is the value of scaling by Z axis
      * @return rotated matrix
diff --git a/tests/concurrent/testutil.h b/tests/concurrent/testutil.h
index 9df146ba..7c3c15c7 100644
--- a/tests/concurrent/testutil.h
+++ b/tests/concurrent/testutil.h
@@ -3,7 +3,6 @@
 
 #include "pithread.h"
 #include <atomic>
-#include "pistring.h"
 
 /**
  * Minimum wait thread start, switch context or another interthread communication action time. Increase it if tests
@@ -58,5 +57,4 @@ public:
     }
 };
 
-
 #endif //AWRCANFLASHER_TESTUTIL_H
diff --git a/tests/math/testpimathmatrixt.cpp b/tests/math/testpimathmatrixt.cpp
index 38976bf8..2d68d131 100644
--- a/tests/math/testpimathmatrixt.cpp
+++ b/tests/math/testpimathmatrixt.cpp
@@ -674,24 +674,6 @@ TEST(PIMathMatrixT_Test, transposed)
     ASSERT_TRUE(b);
 }
 
-TEST(PIMathMatrixT_Test, rotation)
-{
-    double angle = 1.0;
-    bool b;
-    PIMathMatrixT<2u, 2u, double> matrix = PIMathMatrixT<2u, 2u, double>::rotation(angle);
-    double c = cos(angle);
-    double s = sin(angle);
-    if((c == matrix.at(1u,1u)) && (c == matrix.at(0u,0u)) && (-s == matrix.at(0u,1u)) && (s == matrix.at(1u,0u)))
-    {
-        b = true;
-    }
-    else
-    {
-        b = false;
-    }
-    ASSERT_TRUE(b);
-}
-
 TEST(PIMathMatrixT_Test, scaleX_two)
 {
     double factor = 5.64;
@@ -726,6 +708,31 @@ TEST(PIMathMatrixT_Test, scaleY_two)
     ASSERT_TRUE(b);
 }
 
+TEST(PIMathMatrixT_Test, rotation_2x2)
+{
+    double angle = 1.0;
+    bool b;
+    PIMathMatrixT<2u, 2u, double> matrix = PIMathMatrixT<2u, 2u, double>::rotation(angle);
+    double c = cos(angle);
+    double s = sin(angle);
+    if((c == matrix.at(1u,1u)) && (c == matrix.at(0u,0u)) && (-s == matrix.at(0u,1u)) && (s == matrix.at(1u,0u)))
+    {
+        b = true;
+    }
+    else
+    {
+        b = false;
+    }
+    ASSERT_TRUE(b);
+}
+
+TEST(PIMathMatrixT_Test, rotation_3x3)
+{
+    double angle = 1.0;
+    PIMathMatrixT<3u, 3u, double> matrix = PIMathMatrixT<3u, 3u, double>::rotation(angle);
+    ASSERT_TRUE(cmpMatrixWithValue(matrix, 0.0));
+}
+
 TEST(PIMathMatrixT_Test, rotationX)
 {
     double angle = 1.0;
@@ -831,3 +838,4 @@ TEST(PIMathMatrixT_Test, scaleZ_three)
     ASSERT_TRUE(b);
 }
 
+