diff --git a/components/pid/kalman.py b/components/pid/kalman.py
index 5393784..a2e9d36 100644
--- a/components/pid/kalman.py
+++ b/components/pid/kalman.py
@@ -87,7 +87,7 @@ if __name__ == '__main__':
 		'dt'	: dt,
 		'var_P'	: 1,
 		'var_Q'	: 0.0001,
-		'var_R'	: 1
+		'var_R'	: 0.5
 	}
 	k = Kalman(params)
 
@@ -102,7 +102,7 @@ if __name__ == '__main__':
 	_seqn = range(0, 2*N)
 	X = np.array([1, 0])
 	for n in seqn:
-		Z = k.process_measurement(X, 0.1)
+		Z = k.process_measurement(X, 0.5)
 		# Kalman.print("Z:", Z)
 		Xp = k.process(Z)
 
@@ -113,7 +113,7 @@ if __name__ == '__main__':
 
 	for n in seqn:
 		X[0] = X[0] + 1
-		Z = k.process_measurement(X, 0.1)
+		Z = k.process_measurement(X, 0.5)
 		# Kalman.print("Z:", Z)
 		Xp = k.process(Z)