diff --git a/config/ekf.yaml b/config/ekf.yaml
index 0da4786..08d1267 100644
--- a/config/ekf.yaml
+++ b/config/ekf.yaml
@@ -11,7 +11,7 @@ ekf_filter_node:
 # environment and want to ignore the effect of small variations in the ground plane that might otherwise be detected
 # by, for example, an IMU. Defaults to false if unspecified.
         #two_d_mode: true
-        two_d_mode: false
+        two_d_mode: true # switched to 2d mode because floating robot
 
 # Whether to publish the acceleration state. Defaults to false if unspecified.
         publish_acceleration: false