diff --git a/config/ekf.yaml b/config/ekf.yaml
index 653abe5..d2dbd49 100644
--- a/config/ekf.yaml
+++ b/config/ekf.yaml
@@ -58,4 +58,4 @@ ekf_filter_node:
 
         # [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.
-        imu0_remove_gravitational_acceleration: false
\ No newline at end of file
+        imu0_remove_gravitational_acceleration: true
\ No newline at end of file