diff --git a/src/rm_auto_aim/armor_solver/src/trajectory_planner.cpp b/src/rm_auto_aim/armor_solver/src/trajectory_planner.cpp
index a869b49..0d682d0 100644
--- a/src/rm_auto_aim/armor_solver/src/trajectory_planner.cpp
+++ b/src/rm_auto_aim/armor_solver/src/trajectory_planner.cpp
@@ -290,6 +290,7 @@ void MpcPlanner::setupProblem() {
     // Cost weights
     Q_(0) = params_.Q_yaw_p;
     Q_(1) = params_.Q_yaw_v;
+    R_.resize(1);
     R_(0) = params_.R_yaw;
 }