diff --git a/config/ekf.yaml b/config/ekf.yaml
index 7b37838..0da4786 100644
--- a/config/ekf.yaml
+++ b/config/ekf.yaml
@@ -42,7 +42,7 @@ ekf_filter_node:
                        false, false, true,
                        false, false, false]
         odom0_differential: false
-        #odom0_relative: true
+        odom0_relative: true
         
         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.
@@ -53,8 +53,8 @@ ekf_filter_node:
                       false, false, false,
                       false, false, true,
                       true, false, true]
-        imu0_differential: true
-        imu0_relative: false
+        imu0_differential: false
+        imu0_relative: true
 
         # [ADVANCED] Some IMUs automatically remove acceleration due to gravity, and others don't. If yours doesn't, please set
         # this to true, and *make sure* your data conforms to REP-103, specifically, that the data is in ENU frame.