diff --git a/lrauv_ignition_plugins/test/helper/LrauvTestFixture.hh b/lrauv_ignition_plugins/test/helper/LrauvTestFixture.hh
index 79a941dd..0ce6fbea 100644
--- a/lrauv_ignition_plugins/test/helper/LrauvTestFixture.hh
+++ b/lrauv_ignition_plugins/test/helper/LrauvTestFixture.hh
@@ -97,6 +97,10 @@ class LrauvTestFixture : public ::testing::Test
         EXPECT_TRUE(linkVel.has_value());
         tethysLinearVel.push_back(linkVel.value());
 
+        auto linkAngVel = link.WorldAngularVelocity(_ecm);
+        EXPECT_TRUE(linkAngVel.has_value());
+        tethysAngularVel.push_back(linkAngVel.value());
+
         this->iterations++;
       });
     fixture->Finalize();
@@ -283,6 +287,9 @@ class LrauvTestFixture : public ::testing::Test
   /// \brief All tethys linear velocities in order
   public: std::vector<ignition::math::Vector3d> tethysLinearVel;
 
+  /// \brief All tethys angular velocities in order
+  public: std::vector<ignition::math::Vector3d> tethysAngularVel;
+
   /// \brief All state messages in order
   public: std::vector<lrauv_ignition_plugins::msgs::LRAUVState> stateMsgs;
 
diff --git a/lrauv_ignition_plugins/test/test_mission_yoyo_circle.cc b/lrauv_ignition_plugins/test/test_mission_yoyo_circle.cc
index 89884286..6619173e 100644
--- a/lrauv_ignition_plugins/test/test_mission_yoyo_circle.cc
+++ b/lrauv_ignition_plugins/test/test_mission_yoyo_circle.cc
@@ -103,24 +103,31 @@ TEST_F(LrauvTestFixture, YoYoCircle)
 
     // Depth is above 20m, and below 2m after initial descent, with some
     // tolerance
-    EXPECT_LT(-22.5, pose.Pos().Z()) << i;
-    if (i > 2000)
+    EXPECT_LT(-22.7, pose.Pos().Z()) << i;
+    if (i > 4000)
     {
-      EXPECT_GT(0.3, pose.Pos().Z()) << i;
+      EXPECT_GT(0.5, pose.Pos().Z()) << i;
     }
 
     // Pitch is between -20 and 20 deg
     EXPECT_LT(IGN_DTOR(-20), pose.Rot().Pitch()) << i;
     EXPECT_GT(IGN_DTOR(20), pose.Rot().Pitch()) << i;
 
-    // Trajectory projected onto the horizontal plane is roughly a circle
-    ignition::math::Vector2d planarPos{pose.Pos().X(), pose.Pos().Y()};
-
-    ignition::math::Vector2d center{-4.0, -23.0};
-    planarPos -= center;
-
-    double meanRadius{20.0};
-    EXPECT_NEAR(20.0, planarPos.Length(), 4.0) << i;
+    if (i > 7000)
+    {
+      // Once the vehicle achieves its full velocity the vehicle should have a
+      // nominal yaw rate of around 0.037-0.038rad/s. This means that the
+      // vehicle should keep spinning in a circle.
+      // TODO(arjo) Reduce tolerance when hydrodynamics is fixed
+      EXPECT_NEAR(tethysAngularVel[i].Z(), 0.037, 2e-2)
+        << i << " yaw rate: " << tethysAngularVel[i].Z();
+
+      // At the same time the roll rate should be near zero
+      EXPECT_NEAR(tethysAngularVel[i].Y(), 0, 1e-1) << i;
+
+      // And the linear velocity should be near 1m/s
+      EXPECT_NEAR(tethysLinearVel[i].Length(), 1.0, 2e-1) << i;
+    }
   }
 }