diff --git a/config/adc_car_global_ekf.yaml b/config/adc_car_global_ekf.yaml
index e00747fd90751f74a48fcfe7c17f3b2d6f64e35f..c6b8455eb0e9a7e2c59f2d5f20f362f49876a66b 100644
--- a/config/adc_car_global_ekf.yaml
+++ b/config/adc_car_global_ekf.yaml
@@ -32,8 +32,8 @@ odom0_config: [false, false, false,
 #imu0_remove_gravitational_acceleration: true
 
 pose0: /adc_car/amcl_pose
-pose0_config: [true,  true,  true,
-               false, false, false,
+pose0_config: [true,  true,  false,
+               false, false, true,
                false, false, false,
                false, false, false,
                false, false, false]