diff --git a/estimator.cabal b/estimator.cabal
--- a/estimator.cabal
+++ b/estimator.cabal
@@ -1,5 +1,5 @@
 name:                estimator
-version:             1.0.0.1
+version:             1.1.0.0
 synopsis:            State-space estimation algorithms such as Kalman Filters
 description:
   The goal of this library is to simplify implementation and use of
@@ -31,7 +31,7 @@
 source-repository    this
   type:     git
   location: https://github.com/GaloisInc/estimator
-  tag:      1.0.0.1
+  tag:      1.1.0.0
 
 Flag werror
   description: Make warnings errors
@@ -53,7 +53,7 @@
                        ad >=4.2,
                        distributive >=0.4,
                        lens >=4.6,
-                       linear >=1.15,
+                       linear >=1.16 && <1.17,
                        reflection >=1.5
   default-language:    Haskell2010
   ghc-options:         -Wall
diff --git a/src/Numeric/Estimator/Matrix.hs b/src/Numeric/Estimator/Matrix.hs
--- a/src/Numeric/Estimator/Matrix.hs
+++ b/src/Numeric/Estimator/Matrix.hs
@@ -17,8 +17,6 @@
 import Linear
 import Prelude hiding (foldr)
 
-instance Metric []
-
 msplit :: [a] -> [[a]] -> (a, [a], [a], [[a]])
 msplit row rows = (first, top, left, rest)
     where
diff --git a/src/Numeric/Estimator/Model/SensorFusion.hs b/src/Numeric/Estimator/Model/SensorFusion.hs
--- a/src/Numeric/Estimator/Model/SensorFusion.hs
+++ b/src/Numeric/Estimator/Model/SensorFusion.hs
@@ -164,7 +164,7 @@
 
 -- | Initial covariance for this model.
 initCovariance :: Fractional a => StateVector (StateVector a)
-initCovariance = kronecker $ fmap (^ (2 :: Int)) $ StateVector
+initCovariance = scaled $ fmap (^ (2 :: Int)) $ StateVector
     { stateOrient = pure 0.1
     , stateVel = pure 0.7
     , statePos = ned 15 15 5