diff --git a/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java b/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java
index d4f9e563e3..dc268f92c2 100644
--- a/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java
+++ b/wpimath/src/main/java/edu/wpi/first/math/estimator/ExtendedKalmanFilter.java
@@ -133,7 +133,7 @@ public class ExtendedKalmanFilter<States extends Num, Inputs extends Num, Output
     m_addFuncX = addFuncX;
 
     m_contQ = StateSpaceUtil.makeCovarianceMatrix(states, stateStdDevs);
-    this.m_contR = StateSpaceUtil.makeCovarianceMatrix(outputs, measurementStdDevs);
+    m_contR = StateSpaceUtil.makeCovarianceMatrix(outputs, measurementStdDevs);
     m_dtSeconds = dtSeconds;
 
     reset();