diff --git a/selfdrive/locationd/kalman/live_kf.py b/selfdrive/locationd/kalman/live_kf.py
index d18a4b0896..73476fa5ae 100755
--- a/selfdrive/locationd/kalman/live_kf.py
+++ b/selfdrive/locationd/kalman/live_kf.py
@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 import numpy as np
-from live_model import gen_model, States
+from .live_model import gen_model, States
 
 from .kalman_helpers import ObservationKind
 from .ekf_sym import EKF_sym
diff --git a/selfdrive/locationd/locationd.py b/selfdrive/locationd/locationd.py
index a5620e4dfc..239ed29435 100755
--- a/selfdrive/locationd/locationd.py
+++ b/selfdrive/locationd/locationd.py
@@ -8,7 +8,7 @@ from selfdrive.swaglog import cloudlog
 from common.transformations.orientation import rotations_from_quats, ecef_euler_from_ned, euler2quat, ned_euler_from_ecef, quat2euler
 import common.transformations.coordinates as coord
 
-from selfdrive.locationd.kalman.live_kf import LiveKalman, States, inital_x, initial_P_diag
+from selfdrive.locationd.kalman.live_kf import LiveKalman, States, initial_x, initial_P_diag
 from selfdrive.locationd.kalman.kalman_helpers import ObservationKind
 os.environ["OMP_NUM_THREADS"] = "1"
 
@@ -69,7 +69,7 @@ class Localizer():
       quat_uncertainty = 0.2**2
       initial_pose_ecef_quat = euler2quat(initial_pose_ecef)
 
-      initial_state = inital_x
+      initial_state = initial_x
       initial_covs_diag = initial_P_diag
 
       initial_state[States.ECEF_POS] = initial_ecef