diff --git a/selflocalization/selflocalize.py b/selflocalization/selflocalize.py
index 6092ce0..a55b9ae 100644
--- a/selflocalization/selflocalize.py
+++ b/selflocalization/selflocalize.py
@@ -254,10 +254,10 @@ try:
         particle.add_uncertainty(particles, SIGMA, SIGMA_THETA)
         est_pose, certainty = particle.estimate_pose(particles) # The estimate of the robots current pose
         calc_weight(est_pose, landmark_values)
-        est_weight = est_pose.weight * 10**23
+        est_weight = est_pose.weight * 10**10
         print("est_weight:", est_weight)
         print("certainty:", certainty)
-        if est_weight > 1 and certainty > 1:
+        if est_weight > 1:
             break
         else:
             arlo.go_diff(POWER, POWER, 0, 1)