diff --git a/commonFunctions/kalman/run_NAS.m b/commonFunctions/kalman/run_NAS.m
index d26efaf5f6c6a92ecc43ba946164bac86c265dab..44a63754c9aec6832c798f55e519f31810b575e6 100644
--- a/commonFunctions/kalman/run_NAS.m
+++ b/commonFunctions/kalman/run_NAS.m
@@ -174,10 +174,10 @@ if length(t_nas) > 1
 
         % magnetometer
 
-        if round(t_nas(ii) - sensorTot.nas.timestampMagnetometerCorrection, 6) >= 1/nas.mag_freq
-            [xq(ii,:),P_q(:,:,ii),~,~]        = correctorQuat(xq(ii,:),P_q(:,:,ii),sensorTot.imu.magnetometer_measures(index_imu,:),nas.sigma_mag,mag_NED);
-            sensorTot.nas.timestampMagnetometerCorrection = t_nas(ii);
-        end
+        % if round(t_nas(ii) - sensorTot.nas.timestampMagnetometerCorrection, 6) >= 1/nas.mag_freq
+        %     [xq(ii,:),P_q(:,:,ii),~,~]        = correctorQuat(xq(ii,:),P_q(:,:,ii),sensorTot.imu.magnetometer_measures(index_imu,:),nas.sigma_mag,mag_NED);
+        %     sensorTot.nas.timestampMagnetometerCorrection = t_nas(ii);
+        % end
 
         % reintroduce pitot
         % pitot
diff --git a/commonFunctions/sensors/NoiseAnalysis/main_noiseAnalysis.m b/commonFunctions/sensors/NoiseAnalysis/main_noiseAnalysis.m
index b1b5a719fc7c1de0b65c00c453d31ce52edc7a16..668fa9e56cdd814190235a23d59f15b9b1f696d0 100644
--- a/commonFunctions/sensors/NoiseAnalysis/main_noiseAnalysis.m
+++ b/commonFunctions/sensors/NoiseAnalysis/main_noiseAnalysis.m
@@ -6,6 +6,7 @@ restoredefaultpath
 %% Path
 
 matFolder = "..\New data";
+matFolder = "C:\Users\stebe\Desktop\New data";
 addpath(genpath(".\Functions"))
 addpath(genpath(matFolder))
 
@@ -15,17 +16,17 @@ addpath(genpath(matFolder))
 clear, clc
 close all
 
-sensor_single.name = "main_Boardcore_LSM6DSRXData.csv";
+sensor_single.name = "main_Boardcore_LIS2MDLData.csv";
 sensor_single.noise_type = "white";
 if strcmp(sensor_single.noise_type, "pink") || strcmp(sensor_single.noise_type, "colored")
     sensor_single.colored_data.white_variance = 10;
     sensor_single.colored_data.fcut = 0.3;
     sensor_single.colored_data.butterOrder = 1;
 end
-sensor_single.track = 7; % [6 7 8]
+sensor_single.track = 2; % [6 7 8]
 sensor_single.fs = 100;
-sensor_single.bound_left = 0.35;
-sensor_single.bound_right = 0.5;
+sensor_single.bound_left = 0.5;
+sensor_single.bound_right = 0.7;
 sensor_single.bounds = [sensor_single.bound_left sensor_single.bound_right];
 
 
diff --git a/data/2024_Lyra_Portugal_October/config2024_Lyra_Portugal_October.m b/data/2024_Lyra_Portugal_October/config2024_Lyra_Portugal_October.m
index 229dd4c5efbd84c2e35d63ce8164b4a0d8397fc5..0f658f06f967baf5b53db722f9a557f6b48563db 100644
--- a/data/2024_Lyra_Portugal_October/config2024_Lyra_Portugal_October.m
+++ b/data/2024_Lyra_Portugal_October/config2024_Lyra_Portugal_October.m
@@ -85,11 +85,11 @@ settings.servo.maxAngle = fix(settings.servo.maxAngle*1e9)/1e9; % to avoid compu
 
 %% NAS TUNING PARAMETERS
 settings.nas.dt_k          =   0.02;                                        % [s]        nas time step
-settings.nas.sigma_baro    =   50;                                          % [Pa]   estimated barometer variance    
-settings.nas.sigma_mag     =   10;                                          % [mgauss] estimated magnetometer variance    
-settings.nas.sigma_GPS     =   sqrt(diag([0.002 0.002 0.01/30 0.01/30]));   % [millideg m/s]     estimated GPS variance. position from test, velocity from datasheet
-settings.nas.sigma_w       =   10;                                          % [rad/s]   estimated gyroscope variance;
-settings.nas.sigma_beta    =   1e-4;                                        % [rad/s]   estimated gyroscope bias variance;
+settings.nas.sigma_baro    =   sqrt(36);                                          % [Pa]   estimated barometer sigma    
+settings.nas.sigma_mag     =   1e3*sqrt(1.866e-05);                                          % [mgauss] estimated magnetometer sigma    
+settings.nas.sigma_GPS     =   sqrt(diag([0.002 0.002 0.01/30 0.01/30]));   % [millideg m/s]     estimated GPS sigma. position from test, velocity from datasheet
+settings.nas.sigma_w       =   10;                                          % [rad/s]   estimated gyroscope sigma;
+settings.nas.sigma_beta    =   1e-4;                                        % [rad/s]   estimated gyroscope bias sigma;
 settings.nas.sigma_pitot   =   20^2;    
 settings.nas.sigma_pitot2  =   0.1; 
 settings.nas.sigma_acc     =   0.05;                                        % [m/s^2]