diff --git a/include/cglm/quat.h b/include/cglm/quat.h
index d415ab7..cc5fde8 100644
--- a/include/cglm/quat.h
+++ b/include/cglm/quat.h
@@ -142,7 +142,7 @@ glm_quat_init(versor q, float x, float y, float z, float w) {
 //TODO: telephone001's eulertoquat
 
 /*!
- * @brief creates a quaternion using rotation angles and does does rotations in x y z order
+ * @brief creates NEW quaternion using rotation angles and does does rotations in x y z order
  * 
  * @param[out]  q     quaternion
  * @param[in]   angle angles x y z (radians)
@@ -150,20 +150,21 @@ glm_quat_init(versor q, float x, float y, float z, float w) {
 CGLM_INLINE
 void
 glm_euler_xyz_quat(versor q, vec3 angles) {
-  float xs = sinf(angles[0] / 2.0);
-  float xc = cosf(angles[0] / 2.0);
+  float xs = sinf(angles[0] / 2.0f);
+  float xc = cosf(angles[0] / 2.0f);
 
-  float ys = sinf(angles[1] / 2.0);
-  float yc = cosf(angles[1] / 2.0);
+  float ys = sinf(angles[1] / 2.0f);
+  float yc = cosf(angles[1] / 2.0f);
   
-  float zs = sinf(angles[2] / 2.0);
-  float zc = cosf(angles[2] / 2.0);
+  float zs = sinf(angles[2] / 2.0f);
+  float zc = cosf(angles[2] / 2.0f);
 
   glm_quat_init(q, 
-    zc * yc * xs - zs * ys * xs, 
-    zc * ys * xc - zs * yc * xs,
-    zs * yc * xc - zs * yc * xs,
+    zc * yc * xs - zs * ys * xc, 
+    zc * ys * xc + zs * yc * xs,
+   -zc * ys * xs + zs * yc * xc,
     zc * yc * xc + zs * ys * xs);
+  
 }
 
 /*!
diff --git a/test/src/test_quat.h b/test/src/test_quat.h
index 3c1b24e..9b274a0 100644
--- a/test/src/test_quat.h
+++ b/test/src/test_quat.h
@@ -123,29 +123,39 @@ TEST_IMPL(GLM_PREFIX, quatv) {
 
 // telephone001 changes (remove comment when done) TODO
 TEST_IMPL(GLM_PREFIX, euler_xyz_quat) {
-  vec3 axis_x = {1.0f, 0.0f, 0.0f};
-  vec3 axis_y = {0.0f, 1.0f, 0.0f};
-  vec3 axis_z = {0.0f, 0.0f, 1.0f};
+  /*random angles for testing*/
+  vec3 angles = {glm_rad(30.0f), glm_rad(60.0f), glm_rad(90.0f)};
 
+  /*quaternion representations for rotations*/
   versor rot_x = {0.0f, 0.0f, 0.0f, 1.0f};
   versor rot_y = {0.0f, 0.0f, 0.0f, 1.0f};
   versor rot_z = {0.0f, 0.0f, 0.0f, 1.0f};
 
-  //random angles for testing
-  vec3 angles = {glm_rad(30.0f), glm_rad(60.0f), glm_rad(90.0f)};
+  vec3 axis_x = {1.0f, 0.0f, 0.0f};
+  vec3 axis_y = {0.0f, 1.0f, 0.0f};
+  vec3 axis_z = {0.0f, 0.0f, 1.0f};
 
+  versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
+  versor result = {0.0f, 0.0f, 0.0f, 0.0f};
+
+  /*create the rotation quaternions using the angles and axises*/
   glm_quatv(rot_x, angles[0], axis_x);
   glm_quatv(rot_y, angles[1], axis_y);
   glm_quatv(rot_z, angles[2], axis_z);
 
-  versor expected = {0.0f, 0.0f, 0.0f, 1.0f};
+  /*apply the rotations to a unit quaternion in xyz order*/
   glm_quat_mul(rot_x, expected, expected);
   glm_quat_mul(rot_y, expected, expected);
   glm_quat_mul(rot_z, expected, expected);
 
-  versor result;
-  glm_euler_xyz_quat(angles, result);
-  ASSERTIFY(test_assert_vec3_eq(result, expected))
+  /*use my function to get the quaternion*/
+  glm_euler_xyz_quat(result, angles);
+
+  fprintf(stderr,"TEST\n");
+  for (int i = 0; i < 4; i++) {
+    fprintf(stderr, "%f vs %f\n", expected[i], result[i]);
+  }
+  ASSERTIFY(test_assert_quat_eq(result, expected))
 
   TEST_SUCCESS
 }
diff --git a/test/tests.h b/test/tests.h
index d32ec40..d25a69b 100644
--- a/test/tests.h
+++ b/test/tests.h
@@ -374,6 +374,7 @@ TEST_DECLARE(glm_quat_identity)
 TEST_DECLARE(glm_quat_identity_array)
 TEST_DECLARE(glm_quat_init)
 TEST_DECLARE(glm_quatv)
+TEST_DECLARE(glm_euler_xyz_quat)
 TEST_DECLARE(glm_quat)
 TEST_DECLARE(glm_quat_copy)
 TEST_DECLARE(glm_quat_norm)
@@ -1351,6 +1352,7 @@ TEST_LIST {
   TEST_ENTRY(glm_quat_identity_array)
   TEST_ENTRY(glm_quat_init)
   TEST_ENTRY(glm_quatv)
+  TEST_ENTRY(glm_euler_xyz_quat) 
   TEST_ENTRY(glm_quat)
   TEST_ENTRY(glm_quat_copy)
   TEST_ENTRY(glm_quat_norm)