diff --git a/flix/control.ino b/flix/control.ino
index 77c4a87..56fe5bf 100644
--- a/flix/control.ino
+++ b/flix/control.ino
@@ -115,8 +115,8 @@ void controlAttitude() {
 	}
 
 	const Vector up(0, 0, 1);
-	Vector upActual = attitude.rotate(up);
-	Vector upTarget = attitudeTarget.rotate(up);
+	Vector upActual = attitude.rotateVector(up);
+	Vector upTarget = attitudeTarget.rotateVector(up);
 
 	Vector error = Vector::angularRatesBetweenVectors(upTarget, upActual);
 
diff --git a/flix/estimate.ino b/flix/estimate.ino
index b0fae96..ea1834f 100644
--- a/flix/estimate.ino
+++ b/flix/estimate.ino
@@ -22,8 +22,7 @@ void applyGyro() {
 	rates = ratesFilter.update(gyro);
 
 	// apply rates to attitude
-	attitude *= Quaternion::fromAngularRates(rates * dt);
-	attitude.normalize();
+	attitude = attitude.rotate(Quaternion::fromAngularRates(rates * dt));
 }
 
 void applyAcc() {
@@ -34,10 +33,9 @@ void applyAcc() {
 	if (!landed) return;
 
 	// calculate accelerometer correction
-	Vector up = attitude.rotate(Vector(0, 0, 1));
+	Vector up = attitude.rotateVector(Vector(0, 0, 1));
 	Vector correction = Vector::angularRatesBetweenVectors(acc, up) * dt * WEIGHT_ACC;
 
 	// apply correction
-	attitude *= Quaternion::fromAngularRates(correction);
-	attitude.normalize();
+	attitude = attitude.rotate(Quaternion::fromAngularRates(correction));
 }
diff --git a/flix/quaternion.h b/flix/quaternion.h
index 19aeda6..62e10d6 100644
--- a/flix/quaternion.h
+++ b/flix/quaternion.h
@@ -168,10 +168,19 @@ public:
 	}
 
 	// Rotate vector by quaternion
-	Vector rotate(const Vector& v) {
+	Vector rotateVector(const Vector& v) {
 		return conjugateInversed(v);
 	}
 
+	// Rotate quaternion by quaternion
+	Quaternion rotate(const Quaternion& q, const bool normalize = true) {
+		Quaternion rotated = (*this) * q;
+		if (normalize) {
+			rotated.normalize();
+		}
+		return rotated;
+	}
+
 	bool finite() const {
 		return isfinite(w) && isfinite(x) && isfinite(y) && isfinite(z);
 	}