diff --git a/config/ana_local_ekf.yaml b/config/ana_local_ekf.yaml
index 09d0fd53cec5dcc75b1d622c97cab5e9656b6c1f..c779e2f49ac5614054618a385c21cccd69c39fd7 100644
--- a/config/ana_local_ekf.yaml
+++ b/config/ana_local_ekf.yaml
@@ -23,14 +23,14 @@ odom0_config: [false, false, false,
 
 imu0: /ana/sensors/imu
 imu0_config: [false, false, false,
-              false, false, true,
+              true,  false, false,
               false, false, false,
-              false, false, true,
-              false,  false, false]
+              true,  false, false,
+              false, false, false]
 
 imu0_differential: false
 imu0_relative: true
-imu0_remove_gravitational_acceleration: true
+imu0_remove_gravitational_acceleration: false
 
 #meaning_config: [x,     y,      z,
 #                 roll,  pitch,  yaw,