diff --git a/src/shared/algorithms/NAS/NAS.cpp b/src/shared/algorithms/NAS/NAS.cpp
index de9aece2c16ba20379c0db3561674738cbacd72c..1b9fdaad5f4ab723d9be59230c0ff7a18595f483 100644
--- a/src/shared/algorithms/NAS/NAS.cpp
+++ b/src/shared/algorithms/NAS/NAS.cpp
@@ -313,8 +313,7 @@ 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);