diff --git a/src/quadarm_task_priority_ctrl.cpp b/src/quadarm_task_priority_ctrl.cpp
index 1432e04663140083d22ffa5bbb9324d88cca3f40..703a1f0643f97443cc45dbd3ea641f84fb090e52 100644
--- a/src/quadarm_task_priority_ctrl.cpp
+++ b/src/quadarm_task_priority_ctrl.cpp
@@ -360,8 +360,8 @@ void CQuadarm_Task_Priority_Ctrl::task_vs(MatrixXd& JVS,MatrixXd& JVS_pseudo,Mat
   JVS = Jqa1;
 
   // task jacobian pseudo inverse 
-  JVS_pseudo = calcPinv(Jqa1);
-  //JVS_pseudo = weight_jacvs_inverse(Jqa1);
+  //JVS_pseudo = calcPinv(Jqa1);
+  JVS_pseudo = weight_jacvs_inverse(Jqa1);
 
   // task velocity vector
   sigmaVS = this->cam_vel_-Jqa2*this->ctrl_params_.v_rollpitch;