diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt
index 5a605ab61..adccff6d0 100644
--- a/tests/CMakeLists.txt
+++ b/tests/CMakeLists.txt
@@ -173,7 +173,8 @@ if(XRT_BUILD_DRIVER_RIFT_S)
 	target_include_directories(tests_rift_s_metadata PRIVATE ../src/xrt/drivers/rift_s)
 	target_link_libraries(tests_rift_s_metadata PRIVATE xrt-external-catch2 drv_rift_s aux_math)
 	add_test(NAME tests_rift_s_metadata COMMAND tests_rift_s_metadata)
-	add_executable(tests_rift_s_radio tests_rift_s_radio.cpp ../src/xrt/drivers/rift_s/rift_s_radio.c)
+	add_executable(tests_rift_s_radio tests_rift_s_radio.cpp ../src/xrt/drivers/rift_s/rift_s_radio.c
+	                         ../src/xrt/drivers/rift_s/rift_s_haptics.c)
 	target_include_directories(tests_rift_s_radio PRIVATE ../src/xrt/drivers)
 	target_link_libraries(tests_rift_s_radio PRIVATE xrt-external-catch2 aux_util)
 	add_test(NAME tests_rift_s_radio COMMAND tests_rift_s_radio)
diff --git a/tests/tests_rift_s_radio.cpp b/tests/tests_rift_s_radio.cpp
index a36e7d1ba..cc5bea0b9 100644
--- a/tests/tests_rift_s_radio.cpp
+++ b/tests/tests_rift_s_radio.cpp
@@ -3,6 +3,7 @@
 #include "catch_amalgamated.hpp"
 extern "C" {
 #include "rift_s/rift_s_radio.h"
+#include "rift_s/rift_s_haptics.h"
 #include "rift_s/rift_s_protocol.h"
 #include "util/u_time.h"
 #include "util/u_logging.h"
@@ -366,3 +367,27 @@ TEST_CASE("Radio with no device keeps the queue until the deadline")
 	CHECK(st.pending_commands == nullptr);
 	rift_s_radio_state_clear(&st);
 }
+
+TEST_CASE("Haptic latched stop survives a transport reset")
+{
+	// close_transport clears the request side but keeps the latched motor identity.
+	struct rift_s_haptic_radio h = {};
+	h.hand = 0;
+	h.device_id = 0;
+	h.amplitude = 0;
+	h.end_ns = 0;
+	h.applied_device_id = 0x13001101;
+	h.applied_amplitude = 200;
+
+	uint64_t id = 0;
+	uint8_t amp = 0xFF;
+	CHECK(rift_s_haptic_next(&h, T0, &id, &amp));
+	CHECK(id == 0x13001101);
+	CHECK(amp == 0);
+
+	// Nothing ever latched: no spurious stop, no pairing-list probe needed.
+	struct rift_s_haptic_radio idle = {};
+	id = 0xDEAD;
+	amp = 0xFF;
+	CHECK_FALSE(rift_s_haptic_next(&idle, T0, &id, &amp));
+}