diff --git a/config/ekf.yaml b/config/ekf.yaml
index 30bd25d..653abe5 100644
--- a/config/ekf.yaml
+++ b/config/ekf.yaml
@@ -36,12 +36,12 @@ ekf_filter_node:
         odom0: /odom
         # The order of the values of this parameter is x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az.
         # Configure it for x,y,z,vyaw on the odom topic
-        odom0_config: [false , false , true,
+        odom0_config: [false , false , false,
                        false, false, false,
                        true, true, true,
                        false, false, true,
                        false, false, false]
-        odom0_differential: true
+        odom0_differential: false
         #odom0_relative: true
         
         imu0: /imu