diff --git a/Tests/LowLevel/Application/controller.cpp b/Tests/LowLevel/Application/controller.cpp
index 733b1db..fc23749 100644
--- a/Tests/LowLevel/Application/controller.cpp
+++ b/Tests/LowLevel/Application/controller.cpp
@@ -5,6 +5,9 @@ extern "C" {
 }
 
 TEST(TEST_NAME, no_error) {
+    /*
+     * Setpoint equal current attitude
+     */
     imu_data_t imuData{};
     imuData.roll_mul_16 = 37 * 16;
     imuData.pitch_mul_16 = -49 * 16;
@@ -14,37 +17,141 @@ TEST(TEST_NAME, no_error) {
 }
 
 TEST(TEST_NAME, need_roll_right) {
+    /*
+     * Plane is banked left (89°), should be banked right (89°).
+     * Left elevon should be down, right up.
+     */
     imu_data_t imuData{};
-    imuData.roll_mul_16 = -90 * 16;
+    imuData.roll_mul_16 = -89 * 16;
     imuData.pitch_mul_16 = -49 * 16;
-    auto controllerCmd = controller_update(&imuData, 90, -49);
+    auto controllerCmd = controller_update(&imuData, 89, -49);
     EXPECT_EQ(controllerCmd.elevon_right, 500);
     EXPECT_EQ(controllerCmd.elevon_left, -500);
 }
 
 TEST(TEST_NAME, need_roll_left) {
+    /*
+     * Plane is banked right (89°), should be banked left (89°).
+     * Left elevon should be up, right down.
+     */
     imu_data_t imuData{};
-    imuData.roll_mul_16 = 90 * 16;
+    imuData.roll_mul_16 = 89 * 16;
     imuData.pitch_mul_16 = -49 * 16;
-    auto controllerCmd = controller_update(&imuData, -90, -49);
+    auto controllerCmd = controller_update(&imuData, -89, -49);
     EXPECT_EQ(controllerCmd.elevon_right, -500);
     EXPECT_EQ(controllerCmd.elevon_left, 500);
 }
 
 TEST(TEST_NAME, need_pitch_up) {
+    /*
+     * Plane is pitched down (89°), should be pitched up (89°).
+     * Left and right elevon should be up.
+     */
     imu_data_t imuData{};
     imuData.roll_mul_16 = 37 * 16;
-    imuData.pitch_mul_16 = 90 * 16;
-    auto controllerCmd = controller_update(&imuData, 37, -90);
+    imuData.pitch_mul_16 = 89 * 16;
+    auto controllerCmd = controller_update(&imuData, 37, -89);
     EXPECT_EQ(controllerCmd.elevon_right, 500);
     EXPECT_EQ(controllerCmd.elevon_left, 500);
 }
 
 TEST(TEST_NAME, need_pitch_down) {
+    /*
+     * Plane is pitched up (89°), should be pitched down (89°).
+     * Left and right elevon should be down.
+     */
     imu_data_t imuData{};
     imuData.roll_mul_16 = 37 * 16;
-    imuData.pitch_mul_16 = -90 * 16;
-    auto controllerCmd = controller_update(&imuData, 37, 90);
+    imuData.pitch_mul_16 = -89 * 16;
+    auto controllerCmd = controller_update(&imuData, 37, 89);
     EXPECT_EQ(controllerCmd.elevon_right, -500);
     EXPECT_EQ(controllerCmd.elevon_left, -500);
 }
+
+TEST(TEST_NAME, need_roll_left_inverted) {
+    /*
+     * Plane is banked left (91°), should be banked right (91°), the shortest path is via inverted roll.
+     * Left elevon should be up, right down.
+     */
+    imu_data_t imuData{};
+    imuData.roll_mul_16 = -91 * 16;
+    imuData.pitch_mul_16 = -49 * 16;
+    auto controllerCmd = controller_update(&imuData, 91, -49);
+    EXPECT_EQ(controllerCmd.elevon_right, -500);
+    EXPECT_EQ(controllerCmd.elevon_left, 500);
+}
+
+TEST(TEST_NAME, need_roll_right_inverted) {
+    /*
+     * Plane is banked right (91°), should be banked left (91°), the shortest path is via inverted roll.
+     * Left elevon should be down, right up.
+     */
+    imu_data_t imuData{};
+    imuData.roll_mul_16 = 91 * 16;
+    imuData.pitch_mul_16 = -49 * 16;
+    auto controllerCmd = controller_update(&imuData, -91, -49);
+    EXPECT_EQ(controllerCmd.elevon_right, 500);
+    EXPECT_EQ(controllerCmd.elevon_left, -500);
+}
+
+TEST(TEST_NAME, need_pitch_down_inverted) {
+    /*
+     * Plane is pitched down (91°), should be pitched up (91°), the shortest path is via half-looping.
+     * Left and right elevon should be down.
+     */
+    imu_data_t imuData{};
+    imuData.roll_mul_16 = 37 * 16;
+    imuData.pitch_mul_16 = 91 * 16;
+    auto controllerCmd = controller_update(&imuData, 37, -91);
+    EXPECT_EQ(controllerCmd.elevon_right, -500);
+    EXPECT_EQ(controllerCmd.elevon_left, -500);
+}
+
+TEST(TEST_NAME, need_pitch_up_inverted) {
+    /*
+     * Plane is pitched up (91°), should be pitched down (91°), the shortest path is via half-looping.
+     * Left and right elevon should be up.
+     */
+    imu_data_t imuData{};
+    imuData.roll_mul_16 = 37 * 16;
+    imuData.pitch_mul_16 = -91 * 16;
+    auto controllerCmd = controller_update(&imuData, 37, 91);
+    EXPECT_EQ(controllerCmd.elevon_right, 500);
+    EXPECT_EQ(controllerCmd.elevon_left, 500);
+}
+
+TEST(TEST_NAME, no_error_roll_wrap_pos) {
+    imu_data_t imuData{};
+    imuData.roll_mul_16 = (37 + 4 * 360) * 16;
+    imuData.pitch_mul_16 = -49 * 16;
+    auto controllerCmd = controller_update(&imuData, 37, -49);
+    EXPECT_EQ(controllerCmd.elevon_right, 0);
+    EXPECT_EQ(controllerCmd.elevon_left, 0);
+}
+
+TEST(TEST_NAME, no_error_pitch_wrap_pos) {
+    imu_data_t imuData{};
+    imuData.roll_mul_16 = 37 * 16;
+    imuData.pitch_mul_16 = (-49 + 4 * 360) * 16;
+    auto controllerCmd = controller_update(&imuData, 37, -49);
+    EXPECT_EQ(controllerCmd.elevon_right, 0);
+    EXPECT_EQ(controllerCmd.elevon_left, 0);
+}
+
+TEST(TEST_NAME, no_error_roll_wrap_neg) {
+    imu_data_t imuData{};
+    imuData.roll_mul_16 = (37 - 4 * 360) * 16;
+    imuData.pitch_mul_16 = -49 * 16;
+    auto controllerCmd = controller_update(&imuData, 37, -49);
+    EXPECT_EQ(controllerCmd.elevon_right, 0);
+    EXPECT_EQ(controllerCmd.elevon_left, 0);
+}
+
+TEST(TEST_NAME, no_error_pitch_wrap_neg) {
+    imu_data_t imuData{};
+    imuData.roll_mul_16 = 37 * 16;
+    imuData.pitch_mul_16 = (-49 - 4 * 360) * 16;
+    auto controllerCmd = controller_update(&imuData, 37, -49);
+    EXPECT_EQ(controllerCmd.elevon_right, 0);
+    EXPECT_EQ(controllerCmd.elevon_left, 0);
+}
diff --git a/Tests/LowLevel/Application/error_handler.cpp b/Tests/LowLevel/Application/error_handler.cpp
index f5ad3c5..78819e9 100644
--- a/Tests/LowLevel/Application/error_handler.cpp
+++ b/Tests/LowLevel/Application/error_handler.cpp
@@ -1,4 +1,5 @@
 #include <Mock/avr/io.hpp>
+#include <Mock/avr/wdt.hpp>
 #include <gtest/gtest.h>
 
 extern "C" {
@@ -15,3 +16,16 @@ TEST(TEST_NAME, handle_warning) {
     error_handler_handle_warning(static_cast<error_group_t>(6), 11);
     EXPECT_EQ(PORTL, 16 * 11 + 6);
 }
+
+TEST(TEST_NAME, handle_error) {
+    auto wdtHandle = mock::wdt.getHandle();
+    std::size_t count = 0;
+    wdtHandle.overrideFunc<wdt_reset>([&count]() {
+        EXPECT_EQ(PORTL, 16 * 11 + 6);
+        count += 1;
+        if (count >= 10) { // This solves the halting problem...
+            throw std::runtime_error{"EXCEPTION TO BREAK LOOP FOR TESTS"};
+        }
+    });
+    EXPECT_THROW(error_handler_handle_error(static_cast<error_group_t>(6), 11), std::runtime_error);
+}
diff --git a/Tests/LowLevel/Drivers/sbus.cpp b/Tests/LowLevel/Drivers/sbus.cpp
index 7f96414..471c063 100644
--- a/Tests/LowLevel/Drivers/sbus.cpp
+++ b/Tests/LowLevel/Drivers/sbus.cpp
@@ -10,8 +10,6 @@ TEST(TEST_NAME, init) {
     auto uartHandle = mock::uart.getHandle();
     auto ringBufferHandle = mock::ring_buffer.getHandle();
     ringBufferHandle.overrideFunc<ring_buffer_init>([]() { return ring_buffer_data_t{}; });
-    ringBufferHandle.overrideFunc<ring_buffer_put>(
-            [](ring_buffer_data_t * /*ring_buffer_data*/, uint8_t /*data*/) { return true; });
     sbus_init();
     /*
      * https://github.com/bolderflight/sbus/blob/main/README.md:
@@ -46,22 +44,6 @@ TEST(TEST_NAME, rx_fill_buffer) {
     EXPECT_TRUE(ringBufferHandle.functionGotCalled<ring_buffer_put>(std::ignore, 54));
 }
 
-TEST(TEST_NAME, available_read_buffer) {
-    auto uartHandle = mock::uart.getHandle();
-    auto ringBufferHandle = mock::ring_buffer.getHandle();
-    ringBufferHandle.overrideFunc<ring_buffer_init>([]() { return ring_buffer_data_t{}; });
-    sbus_init();
-    EXPECT_TRUE(uartHandle.functionGotCalled<uart_init>());
-
-    std::size_t count = 0;
-    ringBufferHandle.overrideFunc<ring_buffer_get>([&count](ring_buffer_data_t *ringBufferData, uint8_t *out) {
-        EXPECT_NE(ringBufferData, nullptr);
-        count += 1;
-        *out = count;
-        return count <= 4;
-    });
-}
-
 TEST(TEST_NAME, decode) {
     auto uartHandle = mock::uart.getHandle();
     auto ringBufferHandle = mock::ring_buffer.getHandle();