diff --git a/CHANGELOG.markdown b/CHANGELOG.markdown
--- a/CHANGELOG.markdown
+++ b/CHANGELOG.markdown
@@ -1,3 +1,8 @@
+1.7
+---
+* Fixed `axisAngle`
+* `unit` now has a rank 1 type.
+
 1.5
 ---
 * `lens` 4 compatibility
diff --git a/linear.cabal b/linear.cabal
--- a/linear.cabal
+++ b/linear.cabal
@@ -1,6 +1,6 @@
 name:          linear
 category:      Math, Algebra
-version:       1.6
+version:       1.7
 license:       BSD3
 cabal-version: >= 1.8
 license-file:  LICENSE
diff --git a/src/Linear/Quaternion.hs b/src/Linear/Quaternion.hs
--- a/src/Linear/Quaternion.hs
+++ b/src/Linear/Quaternion.hs
@@ -490,6 +490,6 @@
 -- | @'axisAngle' axis theta@ builds a 'Quaternion' representing a
 -- rotation of @theta@ radians about @axis@.
 axisAngle :: (Epsilon a, Floating a) => V3 a -> a -> Quaternion a
-axisAngle axis theta = normalize $ Quaternion (cos half) $ sin half *^ axis
+axisAngle axis theta = Quaternion (cos half) (sin half *^ normalize axis)
   where half = theta / 2
 {-# INLINE axisAngle #-}
diff --git a/src/Linear/Vector.hs b/src/Linear/Vector.hs
--- a/src/Linear/Vector.hs
+++ b/src/Linear/Vector.hs
@@ -392,8 +392,8 @@
 --
 -- >>> unit _x :: V2 Int
 -- V2 1 0
-unit :: (Applicative t, Num a) => Lens' (t a) a -> t a
-unit l = runIdentity $ l (Identity . const 1) $ pure 0
+unit :: (Applicative t, Num a) => ASetter' (t a) a -> t a
+unit l = set' l 1 (pure 0)
 
 fillFromList :: Traversable t => [a] -> t b -> t a
 fillFromList l = snd . mapAccumL aux l