diff --git a/config/ekf.yaml b/config/ekf.yaml
index e59db71..974d246 100644
--- a/config/ekf.yaml
+++ b/config/ekf.yaml
@@ -53,7 +53,7 @@ ekf_filter_node:
                       false, false, true,
                       true, true, false]
         imu0_differential: true
-        imu0_relative: true
+        imu0_relative: false
 
         # [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.