diff --git a/Cargo.lock b/Cargo.lock
index 8eb10b39..ad34a625 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -747,6 +747,7 @@ dependencies = [
  "deku",
  "nalgebra 0.30.1",
  "nalgebra 0.31.4",
+ "nalgebra 0.32.1",
 ]
 
 [[package]]
@@ -1367,11 +1368,11 @@ checksum = "4fb2d0de08694bed883320212c18ee3008576bfe8c306f4c3c4a58b4876998be"
 dependencies = [
  "approx",
  "matrixmultiply",
- "nalgebra-macros",
+ "nalgebra-macros 0.1.0",
  "num-complex",
  "num-rational",
  "num-traits",
- "simba",
+ "simba 0.7.3",
  "typenum",
 ]
 
@@ -1383,11 +1384,27 @@ checksum = "20bd243ab3dbb395b39ee730402d2e5405e448c75133ec49cc977762c4cba3d1"
 dependencies = [
  "approx",
  "matrixmultiply",
- "nalgebra-macros",
+ "nalgebra-macros 0.1.0",
  "num-complex",
  "num-rational",
  "num-traits",
- "simba",
+ "simba 0.7.3",
+ "typenum",
+]
+
+[[package]]
+name = "nalgebra"
+version = "0.32.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f6515c882ebfddccaa73ead7320ca28036c4bc84c9bcca3cc0cbba8efe89223a"
+dependencies = [
+ "approx",
+ "matrixmultiply",
+ "nalgebra-macros 0.2.0",
+ "num-complex",
+ "num-rational",
+ "num-traits",
+ "simba 0.8.0",
  "typenum",
 ]
 
@@ -1402,6 +1419,17 @@ dependencies = [
  "syn",
 ]
 
+[[package]]
+name = "nalgebra-macros"
+version = "0.2.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d232c68884c0c99810a5a4d333ef7e47689cfd0edc85efc9e54e1e6bf5212766"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn",
+]
+
 [[package]]
 name = "native-tls"
 version = "0.2.11"
@@ -2126,6 +2154,19 @@ dependencies = [
  "wide",
 ]
 
+[[package]]
+name = "simba"
+version = "0.8.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "50582927ed6f77e4ac020c057f37a268fc6aebc29225050365aacbb9deeeddc4"
+dependencies = [
+ "approx",
+ "num-complex",
+ "num-traits",
+ "paste",
+ "wide",
+]
+
 [[package]]
 name = "skeletal_model"
 version = "0.0.0"
diff --git a/networking/firmware_protocol/Cargo.toml b/networking/firmware_protocol/Cargo.toml
index 6087bb41..70dfac57 100644
--- a/networking/firmware_protocol/Cargo.toml
+++ b/networking/firmware_protocol/Cargo.toml
@@ -7,9 +7,11 @@ edition = "2021"
 [dependencies]
 deku = { version = "0.15", default-features = false, features = ["alloc"] }
 # We support multiple versions of nalgebra since it changes so much.
+nalgebra032 = { package = "nalgebra", version = "0.32", default-features = false, optional = true }
 nalgebra031 = { package = "nalgebra", version = "0.31", default-features = false, optional = true }
 nalgebra030 = { package = "nalgebra", version = "0.30", default-features = false, optional = true }
 
 [dev-dependencies]
+nalgebra032 = { package = "nalgebra", version = "0.32" }
 nalgebra031 = { package = "nalgebra", version = "0.31" }
 nalgebra030 = { package = "nalgebra", version = "0.30" }
diff --git a/networking/firmware_protocol/src/lib.rs b/networking/firmware_protocol/src/lib.rs
index 81c3affa..83d7ff74 100644
--- a/networking/firmware_protocol/src/lib.rs
+++ b/networking/firmware_protocol/src/lib.rs
@@ -26,47 +26,42 @@ pub struct SlimeQuaternion {
 	pub w: f32,
 }
 
-#[cfg(any(test, feature = "nalgebra031"))]
-mod nalgebra031_impls {
-	use super::*;
-	use nalgebra031::Quaternion;
-
-	impl From<Quaternion<f32>> for SlimeQuaternion {
-		fn from(q: Quaternion<f32>) -> Self {
-			Self {
-				i: q.i as _,
-				j: q.j as _,
-				k: q.k as _,
-				w: q.w as _,
+#[allow(unused_macros)]
+macro_rules! impl_Nalgebra {
+	() => {
+		use super::*;
+		impl From<Quaternion<f32>> for SlimeQuaternion {
+			fn from(q: Quaternion<f32>) -> Self {
+				Self {
+					i: q.i,
+					j: q.j,
+					k: q.k,
+					w: q.w,
+				}
 			}
 		}
-	}
-	impl From<SlimeQuaternion> for Quaternion<f32> {
-		fn from(q: SlimeQuaternion) -> Self {
-			Self::new(q.w as _, q.i as _, q.j as _, q.k as _)
+		impl From<SlimeQuaternion> for Quaternion<f32> {
+			fn from(q: SlimeQuaternion) -> Self {
+				Self::new(q.w, q.i, q.j, q.k)
+			}
 		}
-	}
+	};
+}
+
+#[cfg(any(test, feature = "nalgebra032"))]
+mod nalgebra032_impls {
+	use nalgebra032::Quaternion;
+	impl_Nalgebra!();
+}
+#[cfg(any(test, feature = "nalgebra031"))]
+mod nalgebra031_impls {
+	use nalgebra031::Quaternion;
+	impl_Nalgebra!();
 }
 #[cfg(any(test, feature = "nalgebra030"))]
 mod nalgebra030_impls {
-	use super::*;
 	use nalgebra030::Quaternion;
-
-	impl From<Quaternion<f32>> for SlimeQuaternion {
-		fn from(q: Quaternion<f32>) -> Self {
-			Self {
-				i: q.i as _,
-				j: q.j as _,
-				k: q.k as _,
-				w: q.w as _,
-			}
-		}
-	}
-	impl From<SlimeQuaternion> for Quaternion<f32> {
-		fn from(q: SlimeQuaternion) -> Self {
-			Self::new(q.w as _, q.i as _, q.j as _, q.k as _)
-		}
-	}
+	impl_Nalgebra!();
 }
 
 #[derive(PartialEq, Eq, Debug, DekuRead, DekuWrite)]