diff --git a/src/decoders/index.ts b/src/decoders/index.ts
index def5275..e55d22a 100644
--- a/src/decoders/index.ts
+++ b/src/decoders/index.ts
@@ -2,6 +2,7 @@ import CentroidAccelVelocity from './motion/centroid-accel-velocity';
 import CentroidPosition from './motion/centroid-position';
 import OrientationEuler from './motion/orientation-euler';
 import OrientationQuaternion from './motion/orientation-quaternion';
+import RTTrPM from './motion/rttrpm';
 import Trackable from './motion/trackable';
 import TrackedPointAccelVelocity from './motion/tracked-point-accel-velocity';
 import TrackedPointPosition from './motion/tracked-point-position';
@@ -11,6 +12,7 @@ import RTTrPHeader from './rttrp-header';
 
 export const Decoders = {
   RTTrPHeader,
+  RTTrPM,
   Trackable,
   CentroidPosition,
   CentroidAccelVelocity,
diff --git a/src/decoders/motion/rttrpm.ts b/src/decoders/motion/rttrpm.ts
new file mode 100644
index 0000000..1261574
--- /dev/null
+++ b/src/decoders/motion/rttrpm.ts
@@ -0,0 +1,38 @@
+import { Decoders } from '..';
+import { RTTrPM, Trackable } from '../../models';
+
+export default (bytes: Uint8Array): RTTrPM => {
+  if (bytes.byteLength < 18) {
+    throw new Error('RTTrPM packet must be at least 18 bytes long');
+  }
+  const header = Decoders.RTTrPHeader(bytes.subarray(0, 18));
+
+  if (bytes.byteLength !== header.size) {
+    throw new Error('RTTrPM packet size mismatch');
+  }
+
+  const modules: Trackable[] = [];
+  let packetModuleOffset = 18;
+
+  for (let index = 0; index < header.subModuleCount; index++) {
+    const moduleData = bytes.subarray(packetModuleOffset);
+    const moduleType = moduleData[0];
+    switch (moduleType) {
+      case 0x01:
+      case 0x51: {
+        const module = Decoders.Trackable(moduleData, header.isLittleEndian);
+        modules.push(module);
+        packetModuleOffset += module.size;
+        break;
+      }
+      default:
+        console.error(`unknown RTTrPM submodule type: ${moduleType}`);
+        break;
+    }
+  }
+
+  return {
+    header,
+    modules,
+  };
+};
diff --git a/src/models.ts b/src/models.ts
index 48ad724..59b32e7 100644
--- a/src/models.ts
+++ b/src/models.ts
@@ -9,6 +9,10 @@ export type RTTrPHeader = {
   subModuleCount: number;
   isLittleEndian: boolean;
 };
+
+export type RTTrPM = {
+  header: RTTrPHeader;
+  modules: Trackable[];
 };
 
 export type TrackableModule =
diff --git a/tests/decode.test.js b/tests/decode.test.js
index d2abf26..380e59c 100644
--- a/tests/decode.test.js
+++ b/tests/decode.test.js
@@ -16,6 +16,7 @@ const goodTests = [
       size: 18,
       context: 305419896,
       subModuleCount: 0,
+      isLittleEndian: false,
     },
     decoder: Decoders.RTTrPHeader,
   },
@@ -219,6 +220,37 @@ const goodTests = [
     },
     decoder: Decoders.Trackable,
   },
+  {
+    description: 'RTTrPM + Empty Trackable',
+    bytes: new Uint8Array([
+      65, 84, 67, 52, 0, 2, 0, 0, 0, 1, 0, 0, 27, 18, 52, 86, 120, 1, 1, 0, 9, 4, 84, 101, 115, 116, 0,
+    ]),
+    expected: {
+      header: {
+        intHeader: 0x4154,
+        floatHeader: 0x4334,
+        version: 2,
+        packetID: 1,
+        packetFormat: 0,
+        size: 27,
+        context: 0x12345678,
+        subModuleCount: 1,
+        isLittleEndian: false,
+      },
+      modules: [
+        {
+          type: 0x01,
+          size: 9,
+          nameLength: 4,
+          name: 'Test',
+          timestamp: undefined,
+          numberOfModules: 0,
+          modules: [],
+        },
+      ],
+    },
+    decoder: Decoders.RTTrPM,
+  },
 ];
 
 describe('RTTrP Bytes Decoding', () => {