diff --git a/src/fsfw/globalfunctions/math/QuaternionOperations.cpp b/src/fsfw/globalfunctions/math/QuaternionOperations.cpp
index 23244b25..ce44dc08 100644
--- a/src/fsfw/globalfunctions/math/QuaternionOperations.cpp
+++ b/src/fsfw/globalfunctions/math/QuaternionOperations.cpp
@@ -51,15 +51,17 @@ void QuaternionOperations::slerp(const double q1[4], const double q2[4], const d
   multiply(q1s, q2I, qD);
   angle = std::acos(qD[3]);
 
+  if (std::cos(angle) < 0.0) {
+    // we need to invert one quaternion
+    VectorOperations<double>::mulScalar(q1s, -1, q1s, 4);
+    multiply(q1s, q2I, qD);
+    angle = std::acos(qD[3]);
+  }
+
   if (std::sin(angle) == 0.0) {
     // nothing to calculate here
     std::memcpy(q, q1s, 4 * sizeof(double));
     return;
-  } else if (std::cos(angle) < 0.0) {
-    // we need to invert one quaternione
-    VectorOperations<double>::mulScalar(q1s, -1, q1s, 4);
-    multiply(q1s, q2I, qD);
-    angle = std::acos(qD[3]);
   }
 
   VectorOperations<double>::mulScalar(q1s, std::sin((1 - weight) * angle) / std::sin(angle), left,