diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 533b8ba..7d2fa59 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -83,6 +83,6 @@ gen_test_matrix(test_private
         "-Wno-missing-declarations")
 
 gen_test_matrix(test_public
-        "test_public_tx.cpp;test_public_rx.cpp;test_public_roundtrip.cpp;test_self.cpp"
+        "test_public_tx.cpp;test_public_rx.cpp;test_public_roundtrip.cpp;test_self.cpp;test_filters.cpp"
         ""
         "-Wmissing-declarations")
diff --git a/tests/test_filters.cpp b/tests/test_filters.cpp
new file mode 100644
index 0000000..e2f2d6d
--- /dev/null
+++ b/tests/test_filters.cpp
@@ -0,0 +1,54 @@
+// This software is distributed under the terms of the MIT License.
+// Copyright (c) 2016-2021 UAVCAN Development Team.
+
+#include "exposed.hpp"
+#include "helpers.hpp"
+
+TEST_CASE("FilterSubject")
+{
+    const heartbeat_subject_id    = 7509;
+    CanardFilter heartbeat_config = canardMakeFilterForSubject(heartbeat_subject_id);
+    REQUIRE(heartbeat_config.extended_can_id & (heartbeat_subject_id << OFFSET_SUBJECT_ID));
+    REQUIRE(heartbeat_config.extended_mask & FLAG_SERVICE_NOT_MESSAGE);
+    REQUIRE(heartbeat_config.extended_mask & FLAG_RESERVED_07);
+    REQUIRE(heartbeat_config.extended_mask & (CANARD_SUBJECT_ID_MAX << OFFSET_SUBJECT_ID));
+}
+
+TEST_CASE("FilterService")
+{
+    const access_service_id    = 7509;
+    const node_id              = 42;
+    CanardFilter access_config = canardMakeFilterForService(access_service_id, node_id);
+    REQUIRE(access_config.extended_can_id & (access_subject_id << OFFSET_SERVICE_ID));
+    REQUIRE(access_config.extended_can_id & (node_id << OFFSET_DST_NODE_ID));
+    REQUIRE(access_config.extended_can_id & FLAG_SERVICE_NOT_MESSAGE);
+    REQUIRE(access_config.extended_mask & FLAG_SERVICE_NOT_MESSAGE);
+    REQUIRE(access_config.extended_mask & FLAG_RESERVED_23);
+    REQUIRE(access_config.extended_mask & (CANARD_SERVICE_ID_MAX << OFFSET_SERVICE_ID));
+    REQUIRE(access_config.extended_mask & (CANARD_NODE_ID_MAX << OFFSET_DST_NODE_ID));
+}
+
+TEST_CASE("FilterServices")
+{
+    const node_id = 42;
+    access_config = canardMakeFilterForServices(node_id);
+    REQUIRE(access_config.extended_can_id & (node_id << OFFSET_DST_NODE_ID));
+    REQUIRE(access_config.extended_can_id & FLAG_SERVICE_NOT_MESSAGE);
+    REQUIRE(access_config.extended_mask & FLAG_SERVICE_NOT_MESSAGE);
+    REQUIRE(access_config.extended_mask & FLAG_RESERVED_23);
+    REQUIRE(access_config.extended_mask & (CANARD_NODE_ID_MAX << OFFSET_DST_NODE_ID));
+}
+
+TEST_CASE("Consolidate")
+{
+    const heartbeat_subject_id    = 7509;
+    CanardFilter heartbeat_config = canardMakeFilterForSubject(heartbeat_subject_id);
+
+    const access_service_id    = 7509;
+    const node_id  			   = 42;
+    CanardFilter access_config = canardMakeFilterForService(access_service_id, node_id);
+
+    CanardFilter combined = canardConsolidateFilters(&heartbeat_config, &access_config);
+    REQUIRE((combined.extended_mask | heartbeat_config.extended_mask) == heartbeat_config.extended_mask);
+    REQUIRE((combined.extended_mask | access_config.extended_mask) == access_config.extended_mask);
+}