diff --git a/config/ekf.yaml b/config/ekf.yaml
index 568516f..e59db71 100644
--- a/config/ekf.yaml
+++ b/config/ekf.yaml
@@ -40,8 +40,8 @@ ekf_filter_node:
                        true, false, false,
                        false, false, true,
                        false, false, false]
-        odom0_differential: true
-        odom0_relative: true
+        odom0_differential: false
+        odom0_relative: false
         
         imu0: /imu
         # The order of the values of this parameter is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az.