diff --git a/flix/control.ino b/flix/control.ino
index 387a12b..9ac1510 100644
--- a/flix/control.ino
+++ b/flix/control.ino
@@ -115,12 +115,10 @@ void controlAttitude()
 	Vector upActual = attitude.rotate(up);
 	Vector upTarget = attitudeTarget.rotate(up);
 
-	float angle = Vector::angleBetweenVectors(upTarget, upActual);
-	Vector ratesTargetDir = Vector::angularRatesBetweenVectors(upTarget, upActual);
-	ratesTargetDir.normalize();
+	Vector error = Vector::angularRatesBetweenVectors(upTarget, upActual);
 
-	ratesTarget.x = rollPID.update(ratesTargetDir.x * angle, dt);
-	ratesTarget.y = pitchPID.update(ratesTargetDir.y * angle, dt);
+	ratesTarget.x = rollPID.update(error.x, dt);
+	ratesTarget.y = pitchPID.update(error.y, dt);
 
 	if (yawMode == YAW) {
 		ratesTarget.z = yawPID.update(wrapAngle(attitudeTarget.getYaw() - attitude.getYaw()), dt);
diff --git a/flix/estimate.ino b/flix/estimate.ino
index 713d538..b8445a7 100644
--- a/flix/estimate.ino
+++ b/flix/estimate.ino
@@ -36,12 +36,10 @@ void applyAcc()
 
 	// calculate accelerometer correction
 	Vector up = attitude.rotate(Vector(0, 0, -1));
-	Vector accCorrDirection = Vector::angularRatesBetweenVectors(acc, up);
-	accCorrDirection.normalize();
-	Vector accCorr = accCorrDirection * Vector::angleBetweenVectors(up, acc) * dt * WEIGHT_ACC;
+	Vector correction = Vector::angularRatesBetweenVectors(acc, up) * dt * WEIGHT_ACC;
 
 	// apply correction
-	attitude *= Quaternion::fromAngularRates(accCorr);
+	attitude *= Quaternion::fromAngularRates(correction);
 	attitude.normalize();
 }
 
diff --git a/flix/vector.h b/flix/vector.h
index 105f6df..577d46c 100644
--- a/flix/vector.h
+++ b/flix/vector.h
@@ -79,7 +79,10 @@ public:
 
 	static Vector angularRatesBetweenVectors(const Vector& u, const Vector& v)
 	{
-		return cross(u, v);
+		Vector direction = cross(u, v);
+		direction.normalize();
+		float angle = angleBetweenVectors(u, v);
+		return direction * angle;
 	}
 
 	size_t printTo(Print& p) const {