diff --git a/apps/utest/test_workq/Kconfig b/apps/utest/test_workq/Kconfig
new file mode 100644
index 0000000000..6829919294
--- /dev/null
+++ b/apps/utest/test_workq/Kconfig
@@ -0,0 +1,6 @@
+menuconfig TEST_WORK_QUEUE
+    bool "test work queue"
+    default n
+
+if TEST_WORK_QUEUE
+endif
diff --git a/apps/utest/test_workq/SConscript b/apps/utest/test_workq/SConscript
new file mode 100644
index 0000000000..15824c83f4
--- /dev/null
+++ b/apps/utest/test_workq/SConscript
@@ -0,0 +1,22 @@
+
+import os
+import rtconfig
+from building import *
+
+cwd = GetCurrentDir()
+group = []
+
+
+# 添加当前文件夹下的代码
+src = Glob("*.c") + Glob("*.cpp")
+inc = [cwd]
+
+group += DefineGroup("utest", src, depend = [''], CPPPATH = inc)
+
+for d in os.listdir(cwd):
+    path = os.path.join(cwd, d)
+    if os.path.isfile(os.path.join(path, "SConscript")):
+        # print(os.path.join(d, 'SConscript'))
+        group += SConscript(os.path.join(d, "SConscript"))
+
+Return("group")
diff --git a/apps/utest/test_workq/workq_main.cpp b/apps/utest/test_workq/workq_main.cpp
new file mode 100644
index 0000000000..179e96c384
--- /dev/null
+++ b/apps/utest/test_workq/workq_main.cpp
@@ -0,0 +1,55 @@
+#include <nextpilot.h>
+#include <workq/WorkItemScheduled.hpp>
+
+using namespace time_literals;
+using namespace nextpilot;
+
+static wq_config_t sim_rate_ctrl{"wq:sim_rate_ctrl", 4096 * 10, 0};
+
+class SimRateControl : public ModuleCommand<SimRateControl>, public nextpilot::WorkItemScheduled {
+public:
+    SimRateControl() :
+        WorkItemScheduled(MODULE_NAME, sim_rate_ctrl) {
+    }
+
+    ~SimRateControl() {
+    }
+
+    /** @see ModuleCommand */
+    static SimRateControl *instantiate(int argc, char *argv[]) {
+        SimRateControl *instance = new SimRateControl();
+        return instance;
+    }
+
+    /** @see ModuleCommand */
+    static int custom_command(int argc, char *argv[]) {
+        return 0;
+    }
+
+    /** @see ModuleCommand */
+    static int print_usage(const char *reason = nullptr) {
+        return 0;
+    }
+
+    int init() override {
+        ScheduleOnInterval(100_ms); // 8 Hz
+        return 0;
+    }
+
+private:
+    void Run() override {
+        static uint32_t cnt = 0;
+        if (should_exit()) {
+        }
+        rt_thread_mdelay(1000);
+        rt_kprintf("======%ld, %d\n", rt_tick_get(), cnt++);
+    }
+};
+
+int sim_rate_ctrl_start() {
+    const char *argv[] = {"sim_rate_control", "start"};
+    int         argc   = sizeof(argv) / sizeof(argv[0]);
+    return SimRateControl::main(argc, (char **)argv);
+}
+
+INIT_APP_EXPORT(sim_rate_ctrl_start);