diff --git a/src/fsfw/globalfunctions/math/QuaternionOperations.cpp b/src/fsfw/globalfunctions/math/QuaternionOperations.cpp
index f65a1847..5ac415b3 100644
--- a/src/fsfw/globalfunctions/math/QuaternionOperations.cpp
+++ b/src/fsfw/globalfunctions/math/QuaternionOperations.cpp
@@ -39,6 +39,21 @@ void QuaternionOperations::inverse(const double* quaternion, double* inverseQuat
   VectorOperations<double>::mulScalar(inverseQuaternion, -1, inverseQuaternion, 3);
 }
 
+void QuaternionOperations::slerp(const double q1[4], const double q2[4], const double weight,
+                                 double q[4]) {
+  double qD[4] = {0, 0, 0, 0}, left[4] = {0, 0, 0, 0}, right[4] = {0, 0, 0, 0};
+
+  multiply(q1, q2, qD);
+  double angle = getAngle(qD) / 2.;
+
+  VectorOperations<double>::mulScalar(q1, std::sin((1 - weight) * angle) / std::sin(angle), left,
+                                      4);
+  VectorOperations<double>::mulScalar(q1, std::sin(weight * angle) / std::sin(angle), right, 4);
+  VectorOperations<double>::add(left, right, q, 4);
+
+  normalize(q);
+}
+
 QuaternionOperations::QuaternionOperations() {}
 
 void QuaternionOperations::normalize(const double* quaternion, double* unitQuaternion) {
diff --git a/src/fsfw/globalfunctions/math/QuaternionOperations.h b/src/fsfw/globalfunctions/math/QuaternionOperations.h
index e8ca400a..473cee2b 100644
--- a/src/fsfw/globalfunctions/math/QuaternionOperations.h
+++ b/src/fsfw/globalfunctions/math/QuaternionOperations.h
@@ -23,6 +23,8 @@ class QuaternionOperations {
 
   static void inverse(const double *quaternion, double *inverseQuaternion);
 
+  static void slerp(const double q1[4], const double q2[4], const double weight, double q[4]);
+
   /**
    * returns angle in ]-Pi;Pi] or [0;Pi] if abs == true
    */