diff --git a/urc_localization/config/ekf.yaml b/urc_localization/config/ekf.yaml
index 6a71ca0d..c2209adc 100644
--- a/urc_localization/config/ekf.yaml
+++ b/urc_localization/config/ekf.yaml
@@ -100,7 +100,7 @@ ekf_filter_node_map:
 
     
     odom0: /odometry/gps
-    odom0_config: [true, true, true,
+    odom0_config: [true, true, false,
                  false, false, false,
                  false, false, false,
                  false, false, false,
@@ -177,6 +177,6 @@ navsat_transform:
         zero_altitude: false
         broadcast_utm_transform: true
         publish_filtered_gps: true
-        use_odometry_yaw: false
+        use_odometry_yaw: true
         wait_for_datum: false