diff --git a/src/shared/algorithms/NAS/NAS.cpp b/src/shared/algorithms/NAS/NAS.cpp
index 099e557b7632b2caabd3e31a2253eaa724fadd16..722485c9402fd1ae259767a39b813f7362e0e27e 100644
--- a/src/shared/algorithms/NAS/NAS.cpp
+++ b/src/shared/algorithms/NAS/NAS.cpp
@@ -278,8 +278,7 @@ void NAS::correctAcc(const Vector3f& acc)
     Matrix<float, 3, 6> H;
     H << M, Matrix3f::Zero(3, 3);
     Matrix<float, 6, 6> Pq = P.block<6, 6>(IDX_QUAT, IDX_QUAT);
-    // TODO: Change R_mag with R_acc
-    Matrix<float, 3, 3> S = H * Pq * H.transpose() + R_mag;
+    Matrix<float, 3, 3> S = H * Pq * H.transpose() + R_acc;
 
     Matrix<float, 6, 3> K  = Pq * H.transpose() * S.inverse();
     Matrix<float, 6, 1> dx = K * (acc - aEst);