diff --git a/selfdrive/locationd/locationd.cc b/selfdrive/locationd/locationd.cc
index 427c29c4..00996b31 100755
--- a/selfdrive/locationd/locationd.cc
+++ b/selfdrive/locationd/locationd.cc
@@ -239,9 +239,9 @@ void Localizer::handle_car_state(double current_time, const cereal::CarState::Re
   this->speed_counter++;
 
   if (this->speed_counter % SENSOR_DECIMATION == 0) {
-    this->kf->predict_and_observe(current_time, OBSERVATION_ODOMETRIC_SPEED, { (VectorXd(1) << log.getVEgo()).finished() });
+    this->kf->predict_and_observe(current_time, OBSERVATION_ODOMETRIC_SPEED, { (VectorXd(1) << log.getVEgoRaw()).finished() });
     this->car_speed = std::abs(log.getVEgo());
-    if (log.getVEgo() == 0.0) {  // TODO probably never really 0.0
+    if (this->car_speed < 1e-3) {
       this->kf->predict_and_observe(current_time, OBSERVATION_NO_ROT, { Vector3d(0.0, 0.0, 0.0) });
     }
   }
diff --git a/selfdrive/locationd/locationd.h b/selfdrive/locationd/locationd.h
index a11cdeb6..6c00a43a 100755
--- a/selfdrive/locationd/locationd.h
+++ b/selfdrive/locationd/locationd.h
@@ -53,7 +53,7 @@ private:
   MatrixXdr calib_from_device;
   bool calibrated = false;
 
-  int car_speed = 0;
+  double car_speed = 0.0;
   std::deque<double> posenet_stds;
 
   std::unique_ptr<LocalCoord> converter;
diff --git a/selfdrive/test/process_replay/ref_commit b/selfdrive/test/process_replay/ref_commit
index 7ddcabce..b1cc095f 100644
--- a/selfdrive/test/process_replay/ref_commit
+++ b/selfdrive/test/process_replay/ref_commit
@@ -1 +1 @@
-bb1af9fc73c15967a4160d8899f2688b059627bf
\ No newline at end of file
+381c4976c45f232f413b37945fbcd43391174089
\ No newline at end of file