diff --git a/src/cot/lrf.rs b/src/cot/lrf.rs
index f791047..8d1521c 100644
--- a/src/cot/lrf.rs
+++ b/src/cot/lrf.rs
@@ -57,3 +57,48 @@ impl LaserRangeFinderClearPayload {
 fn normalize_degrees(degrees: f64) -> f64 {
     degrees.rem_euclid(360.0)
 }
+
+#[cfg(test)]
+mod tests {
+    use super::{LaserRangeFinderClearPayload, LaserRangeFinderPayload};
+    use arma_rs::FromArma;
+    use chrono::DateTime;
+
+    #[test]
+    fn parses_lrf_payload_and_serializes_normalized_message() {
+        let payload = LaserRangeFinderPayload::from_arma(
+            r#"["laser-1",-5,-10,2.5]"#.to_string(),
+        )
+        .expect("LRF payload should parse");
+
+        assert_eq!(payload.uid, "laser-1");
+        assert_eq!(payload.distance_meters, -5.0);
+        assert_eq!(payload.azimuth_degrees, -10.0);
+        assert_eq!(payload.elevation_degrees, 2.5);
+
+        let message = payload.to_lrf_message();
+        let fields: Vec<_> = message.split(',').collect();
+        assert_eq!(fields.len(), 6);
+        assert_eq!(fields[0], "1");
+        assert_eq!(fields[1], "laser-1");
+        assert!(DateTime::parse_from_rfc3339(fields[2]).is_ok());
+        assert_eq!(fields[3], "0.00");
+        assert_eq!(fields[4], "350.00");
+        assert_eq!(fields[5], "2.50");
+    }
+
+    #[test]
+    fn parses_clear_payload_and_serializes_range_error() {
+        let payload = LaserRangeFinderClearPayload::from_arma(r#""laser-2""#.to_string())
+            .expect("clear LRF payload should parse");
+        assert_eq!(payload.uid, "laser-2");
+
+        let message = payload.to_lrf_message();
+        let fields: Vec<_> = message.split(',').collect();
+        assert_eq!(fields.len(), 4);
+        assert_eq!(fields[0], "1");
+        assert_eq!(fields[1], "laser-2");
+        assert!(DateTime::parse_from_rfc3339(fields[2]).is_ok());
+        assert_eq!(fields[3], "RANGE_ERROR");
+    }
+}