We present a novel method for higher order reconstruction of fetal diffusion MRI signal that enables detection of fiber crossings. We combine data-driven motion and intensity correction with super-resolution reconstruction and spherical harmonic parametrisation to reconstruct data scattered in both spatial and angular domains into consistent fetal dMRI signal suitable for further diffusion analysis. We show that intensity correction is essential for good performance of the method and identify anatomically plausible fiber crossings. The proposed methodology has potential to facilitate detailed investigation of developing brain connectivity and microstructure in-utero.