diff --git a/src/fsfw/globalfunctions/math/QuaternionOperations.cpp b/src/fsfw/globalfunctions/math/QuaternionOperations.cpp
index 5ac415b3..8ddb22f7 100644
--- a/src/fsfw/globalfunctions/math/QuaternionOperations.cpp
+++ b/src/fsfw/globalfunctions/math/QuaternionOperations.cpp
@@ -48,7 +48,7 @@ void QuaternionOperations::slerp(const double q1[4], const double q2[4], const d
 
   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>::mulScalar(q2, std::sin(weight * angle) / std::sin(angle), right, 4);
   VectorOperations<double>::add(left, right, q, 4);
 
   normalize(q);