diff --git a/docker/mynteye-s/mynt_stereo_imu_config.yaml b/docker/mynteye-s/mynt_stereo_imu_config.yaml
index 0fa1da6..47d4b35 100644
--- a/docker/mynteye-s/mynt_stereo_imu_config.yaml
+++ b/docker/mynteye-s/mynt_stereo_imu_config.yaml
@@ -23,7 +23,7 @@ use_mynteye_adapter: 1
 # mynteye_imu_srv: "s1" // not support s1
 
 # Extrinsic parameter between IMU and Camera.
-estimate_extrinsic: 0   # 0  Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it.
+estimate_extrinsic: 1   # 0  Have an accurate extrinsic parameters. We will trust the following imu^R_cam, imu^T_cam, don't change it.
                         # 1  Have an initial guess about extrinsic parameters. We will optimize around your initial guess.
 
 # Transformation (cam0):
@@ -105,14 +105,14 @@ keyframe_parallax: 10.0 # keyframe selection threshold (pixel)
 #gyr_w: 0.000379565782927       # gyroscope bias random work noise standard deviation.     #4.0e-5
 #g_norm: 9.81007     # gravity magnitude
 
-acc_n: 2.1657228523252730e-02          # accelerometer measurement noise standard deviation. #0.599298904976
-gyr_n: 2.1923690143745844e-03        # gyroscope measurement noise standard deviation.     #0.198614898699
-acc_w: 3.8153871149178200e-04         # accelerometer bias random work noise standard deviation.  #0.02
-gyr_w: 1.4221215955051228e-05       # gyroscope bias random work noise standard deviation.     #4.0e-5
+acc_n: 0.0268014618074         # accelerometer measurement noise standard deviation. #0.599298904976
+gyr_n: 0.00888232829671        # gyroscope measurement noise standard deviation.     #0.198614898699
+acc_w: 0.00262960861593         # accelerometer bias random work noise standard deviation.  #0.02
+gyr_w: 0.000379565782927       # gyroscope bias random work noise standard deviation.     #4.0e-5
 g_norm: 9.81007     # gravity magnitude
 
 #unsynchronization parameters
-estimate_td: 1                      # online estimate time offset between camera and imu
+estimate_td: 0                      # online estimate time offset between camera and imu
 td: 0.0                             # initial value of time offset. unit: s. readed image clock + td = real image clock (IMU clock)
 
 #loop closure parameters