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diff --git a/Drivers/CMSIS/DSP/Source/QuaternionMathFunctions/arm_quaternion_conjugate_f32.c b/Drivers/CMSIS/DSP/Source/QuaternionMathFunctions/arm_quaternion_conjugate_f32.c
new file mode 100644
index 0000000..213a5bb
--- /dev/null
+++ b/Drivers/CMSIS/DSP/Source/QuaternionMathFunctions/arm_quaternion_conjugate_f32.c
@@ -0,0 +1,98 @@
+/* ----------------------------------------------------------------------
+ * Project:      CMSIS DSP Library
+ * Title:        arm_quaternion_conjugate_f32.c
+ * Description:  Floating-point quaternion conjugate
+ *
+ * $Date:        23 April 2021
+ * $Revision:    V1.9.0
+ *
+ * Target Processor: Cortex-M and Cortex-A cores
+ * -------------------------------------------------------------------- */
+/*
+ * Copyright (C) 2010-2021 ARM Limited or its affiliates. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the License); you may
+ * not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an AS IS BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "dsp/quaternion_math_functions.h"
+#include <math.h>
+
+/**
+  @ingroup groupQuaternionMath
+ */
+
+/**
+  @defgroup QuatConjugate Quaternion Conjugate
+
+  Compute the conjugate of a quaternion.
+ */
+
+/**
+  @addtogroup QuatConjugate
+  @{
+ */
+
+/**
+  @brief         Floating-point quaternion conjugates.
+  @param[in]     pInputQuaternions            points to the input vector of quaternions
+  @param[out]    pConjugateQuaternions        points to the output vector of conjugate quaternions
+  @param[in]     nbQuaternions                number of quaternions in each vector
+  @return        none
+ */
+
+#if defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE)
+
+#include "arm_helium_utils.h"
+void arm_quaternion_conjugate_f32(const float32_t *pInputQuaternions, 
+    float32_t *pConjugateQuaternions, 
+    uint32_t nbQuaternions)
+{
+   f32x4_t vec1;
+
+   for(uint32_t i=0; i < nbQuaternions; i++)
+   {
+      vec1 = vld1q(pInputQuaternions);
+      
+
+      vec1 = vsetq_lane_f32(-vgetq_lane(vec1, 0),vec1,0);
+      vec1 = vnegq_f32(vec1);
+
+      vst1q(pConjugateQuaternions, vec1);
+
+
+      pInputQuaternions   += 4;
+      pConjugateQuaternions += 4;
+   }
+}
+#else
+void arm_quaternion_conjugate_f32(const float32_t *pInputQuaternions, 
+    float32_t *pConjugateQuaternions, 
+    uint32_t nbQuaternions)
+{
+   uint32_t i;
+   for(i=0; i < nbQuaternions; i++)
+   {
+
+      pConjugateQuaternions[4 * i + 0] = pInputQuaternions[4 * i + 0];
+      pConjugateQuaternions[4 * i + 1] = -pInputQuaternions[4 * i + 1];
+      pConjugateQuaternions[4 * i + 2] = -pInputQuaternions[4 * i + 2];
+      pConjugateQuaternions[4 * i + 3] = -pInputQuaternions[4 * i + 3];
+   }
+}
+#endif /* defined(ARM_MATH_MVEF) && !defined(ARM_MATH_AUTOVECTORIZE) */
+
+/**
+  @} end of QuatConjugate group
+ */