diff --git a/config/bno055_default_config.yaml b/config/bno055_default_config.yaml
index 41f4e10683a6abb9498766ca6dc063e6ab5a57e3..8e69b890a5680284c103a3db076045a77a0214a0 100644
--- a/config/bno055_default_config.yaml
+++ b/config/bno055_default_config.yaml
@@ -76,3 +76,6 @@ mag_op_mode: 1
 # 64 -> "Suspend"
 # 96 -> "Force mode"
 mag_pwr_mode: 0
+orientation_cov: 0.001
+angular_velocity_cov: 0.001
+linear_acceleration_cov: 0.001
diff --git a/config/bno055_ndof_config.yaml b/config/bno055_ndof_config.yaml
index 438b3b7d8754594adad158c532e8dc6231aa5e74..b4f3b343e757b5097ce6ebdccbe8c072d89fc9e8 100644
--- a/config/bno055_ndof_config.yaml
+++ b/config/bno055_ndof_config.yaml
@@ -76,3 +76,7 @@ mag_op_mode: 1
 # 64 -> "Suspend"
 # 96 -> "Force mode"
 mag_pwr_mode: 0
+orientation_cov: 0.001
+angular_velocity_cov: 0.001
+linear_acceleration_cov: 0.001
+