diff --git a/nav/Filter.h b/nav/Filter.h
index 9f8784b..b420e62 100644
--- a/nav/Filter.h
+++ b/nav/Filter.h
@@ -132,9 +132,10 @@ public:
 			//p.weight *= prob;//(prob > 0.01) ? (1.0) : (0.15);
 			//p.weight = (prob > 0.01) ? (1.0) : (0.15);
 			//p.weight = prob;
-			p.weight = 1.0;							// reset
-			p.weight = std::pow(p.weight, 0.1);		// make all particles a little more equal [less strict]
-			p.weight *= std::pow(prob, 0.1);		// add grid-walk-probability
+			//p.weight = 1.0;							// reset
+			//p.weight = std::pow(p.weight, 0.1);		// make all particles a little more equal [less strict]
+			//p.weight *= std::pow(prob, 0.1);		// add grid-walk-probability
+			p.weight = prob;							// grid-walk-probability
 			if (p.weight != p.weight) {throw Exception("nan");}
 
 		}