diff --git a/src/filter/kalman.c b/src/filter/kalman.c
index fd89333b..dab59a62 100644
--- a/src/filter/kalman.c
+++ b/src/filter/kalman.c
@@ -84,9 +84,9 @@ void update_kalman_covariance(volatile axisData_t *gyroRateData)
     arm_sqrt_f32(varStruct.yVar * varStruct.zVar, &squirt);
     varStruct.yzCorrelation = varStruct.xyCoVar/squirt;
 
-    kalmanFilterStateRate[ROLL].r = ABS((varStruct.xMean + (varStruct.yMean * varStruct.xyCorrelation) + (varStruct.zMean * varStruct.xyCorrelation)) * VARIANCE_SCALE;
-    kalmanFilterStateRate[PITCH].r = ABS((varStruct.yMean + (varStruct.xMean * varStruct.xyCorrelation) + (varStruct.zMean * varStruct.yzCorrelation)) * VARIANCE_SCALE;
-    kalmanFilterStateRate[YAW].r = ABS((varStruct.zMean + (varStruct.yMean * varStruct.yzCorrelation) + (varStruct.xMean * varStruct.xzCorrelation)) * VARIANCE_SCALE; 
+    kalmanFilterStateRate[ROLL].r = ABS((varStruct.xMean + (varStruct.yMean * varStruct.xyCorrelation) + (varStruct.zMean * varStruct.xyCorrelation))) * VARIANCE_SCALE;
+    kalmanFilterStateRate[PITCH].r = ABS((varStruct.yMean + (varStruct.xMean * varStruct.xyCorrelation) + (varStruct.zMean * varStruct.yzCorrelation))) * VARIANCE_SCALE;
+    kalmanFilterStateRate[YAW].r = ABS((varStruct.zMean + (varStruct.yMean * varStruct.yzCorrelation) + (varStruct.xMean * varStruct.xzCorrelation))) * VARIANCE_SCALE; 
 }
 
 inline float kalman_process(kalman_t* kalmanState, volatile float input, volatile float accReading) {