diff --git a/yaml/IRI/params.yaml b/yaml/IRI/params.yaml
index eed5cdec39697e2af3a52ce504b0c9b948ece084..121adbba26bcda0a87548bbaced506d3e17c95bd 100644
--- a/yaml/IRI/params.yaml
+++ b/yaml/IRI/params.yaml
@@ -9,7 +9,7 @@ config:
     frame_structure: "POV"
     dimension: 3
     tree_manager:
-      follow: "../tree_manager/sliding_window_20_0.yaml" 
+      follow: "../tree_manager/sliding_window_10_0.yaml" 
     prior:
       #follow: "../prior/POV_factor.yaml"
       follow: "../prior/POV_fix.yaml"
@@ -21,7 +21,7 @@ config:
     n_threads: 2
     update_immediately: true
     min_num_iterations: 5 #if update immediately
-    compute_cov: true
+    compute_cov: false
     cov_enum: 3
     cov_period: 1
     
diff --git a/yaml/IRI/processor_gnss.yaml b/yaml/IRI/processor_gnss.yaml
index 6fa1d2779d6aa05fa291dad5a878172b1b27f5b6..6aea894cc88e7e01dbc88e228de14c4bba8f9ca7 100644
--- a/yaml/IRI/processor_gnss.yaml
+++ b/yaml/IRI/processor_gnss.yaml
@@ -6,6 +6,7 @@ remove_outliers_with_fix: true
 outlier_residual_th: 10
 init_frames: false
 pseudo_ranges: true
+fix: false
 enu_map_fix_dist: 5
 keyframe_vote:
   voting_active: true
@@ -30,7 +31,7 @@ gnss:
     IRN: false
     LEO: false
   tdcp:
-    enabled: true
+    enabled: false
     corr_iono: false
     corr_tropo: false
     loss_function: false
@@ -39,4 +40,12 @@ gnss:
     sigma_carrier: 0.1   # m
     multi_freq: false
     remove_outliers: false
-    batch: false
\ No newline at end of file
+    batch: true
+    #only if batch:
+    min_common_sats: 6
+    raim_n: 1
+    raim_min_residual: 0
+    relinearize_jacobian: true
+    max_iterations: 5        
+    
+    
\ No newline at end of file
diff --git a/yaml/IRI/subscriber_imu.yaml b/yaml/IRI/subscriber_imu.yaml
index 72c7da2dafdccde4e10dee0512844af9d9c6047a..78af3a039abb4d088ec63157b91eb5e28d18641b 100644
--- a/yaml/IRI/subscriber_imu.yaml
+++ b/yaml/IRI/subscriber_imu.yaml
@@ -1,8 +1,8 @@
 enableable: true
 topic_enable: "gnss_available"
 
-imu_x_axis: -1
-imu_y_axis: 2
+imu_x_axis: 1
+imu_y_axis: -2
 imu_z_axis: -3
 
 cov_source: "msg"
diff --git a/yaml/M600a/processor_gnss.yaml b/yaml/M600a/processor_gnss.yaml
index 68bc9ed13fcbc922df70324b3cb7a987554cafbb..b33c49b593869b5db156fe8f49a30e27fe93b07e 100644
--- a/yaml/M600a/processor_gnss.yaml
+++ b/yaml/M600a/processor_gnss.yaml
@@ -6,6 +6,7 @@ remove_outliers_with_fix: true
 outlier_residual_th: 10
 init_frames: false
 pseudo_ranges: true
+fix: false
 enu_map_fix_dist: 5
 keyframe_vote:
   voting_active: true
diff --git a/yaml/M600b/processor_gnss.yaml b/yaml/M600b/processor_gnss.yaml
index 68bc9ed13fcbc922df70324b3cb7a987554cafbb..b33c49b593869b5db156fe8f49a30e27fe93b07e 100644
--- a/yaml/M600b/processor_gnss.yaml
+++ b/yaml/M600b/processor_gnss.yaml
@@ -6,6 +6,7 @@ remove_outliers_with_fix: true
 outlier_residual_th: 10
 init_frames: false
 pseudo_ranges: true
+fix: false
 enu_map_fix_dist: 5
 keyframe_vote:
   voting_active: true
diff --git a/yaml/atlantic/processor_gnss.yaml b/yaml/atlantic/processor_gnss.yaml
index 68bc9ed13fcbc922df70324b3cb7a987554cafbb..b33c49b593869b5db156fe8f49a30e27fe93b07e 100644
--- a/yaml/atlantic/processor_gnss.yaml
+++ b/yaml/atlantic/processor_gnss.yaml
@@ -6,6 +6,7 @@ remove_outliers_with_fix: true
 outlier_residual_th: 10
 init_frames: false
 pseudo_ranges: true
+fix: false
 enu_map_fix_dist: 5
 keyframe_vote:
   voting_active: true
diff --git a/yaml/scrab/processor_gnss.yaml b/yaml/scrab/processor_gnss.yaml
index 68bc9ed13fcbc922df70324b3cb7a987554cafbb..b33c49b593869b5db156fe8f49a30e27fe93b07e 100644
--- a/yaml/scrab/processor_gnss.yaml
+++ b/yaml/scrab/processor_gnss.yaml
@@ -6,6 +6,7 @@ remove_outliers_with_fix: true
 outlier_residual_th: 10
 init_frames: false
 pseudo_ranges: true
+fix: false
 enu_map_fix_dist: 5
 keyframe_vote:
   voting_active: true
diff --git a/yaml/tucan/processor_gnss.yaml b/yaml/tucan/processor_gnss.yaml
index 68bc9ed13fcbc922df70324b3cb7a987554cafbb..b33c49b593869b5db156fe8f49a30e27fe93b07e 100644
--- a/yaml/tucan/processor_gnss.yaml
+++ b/yaml/tucan/processor_gnss.yaml
@@ -6,6 +6,7 @@ remove_outliers_with_fix: true
 outlier_residual_th: 10
 init_frames: false
 pseudo_ranges: true
+fix: false
 enu_map_fix_dist: 5
 keyframe_vote:
   voting_active: true