diff --git a/src/hangar_sim/config/fuse/fuse.yaml b/src/hangar_sim/config/fuse/fuse.yaml
index 3a9ad2b43..4f7dedcea 100644
--- a/src/hangar_sim/config/fuse/fuse.yaml
+++ b/src/hangar_sim/config/fuse/fuse.yaml
@@ -19,6 +19,10 @@ state_estimator:
       #process_noise_diagonal: [0.25, 0.25, 0.00001, 0.00001, 0.00001, 0.25
       #   -, 0.1, 0.1, 0.00001, 0.00001, 0.0001, 0.1, 0.0001, 0.0001, 0.00001]
       process_noise_diagonal: [1.0, 1.0, 0.0001, 0.0001, 0.0001, 0.5, 0.5, 0.5, 0.0001, 0.0001, 0.0001, 0.25, 0.00001, 0.00001, 0.00001]
+      # Exponential velocity decay rate (1/s). Predicted velocity decays toward zero when the
+      # odometry source goes silent (e.g., after a nav2 controller deactivates), preventing
+      # indefinite drift. Set to 0.0 to disable. With k=1.0, velocity halves in ~0.7s.
+      velocity_decay: 1.0
 
     sensor_models:
       initial_localization_sensor: