diff --git a/src/processor/processor_gnss_fix.cpp b/src/processor/processor_gnss_fix.cpp
index 036a91d51842ceff2bb0e5cc0a1c2f43dc176caf..69ab6723a94f20881a38e4479ea694a3128bda69 100644
--- a/src/processor/processor_gnss_fix.cpp
+++ b/src/processor/processor_gnss_fix.cpp
@@ -59,7 +59,7 @@ void ProcessorGnssFix::processCapture(CaptureBasePtr _capture)
     else if (permittedKeyFrame() && voteForKeyFrame())
     {
         WOLF_DEBUG("PR ", getName()," emplacing KF TS = ", incoming_capture_->getTimeStamp());
-        new_frame = getProblem()->emplaceFrame(KEY, incoming_capture_->getTimeStamp());
+        new_frame = getProblem()->emplaceKeyFrame( incoming_capture_->getTimeStamp());
         KF_created = true;
     }
 
diff --git a/src/processor/processor_gnss_single_diff.cpp b/src/processor/processor_gnss_single_diff.cpp
index fb44cb1d7289a67036ea1dafd5066e65a162ce04..d2b297a730fceccfa43ede5e44d089ef0ba1bcec 100644
--- a/src/processor/processor_gnss_single_diff.cpp
+++ b/src/processor/processor_gnss_single_diff.cpp
@@ -48,7 +48,7 @@ void ProcessorGnssSingleDiff::processCapture(CaptureBasePtr _capture)
     // MAKE KF
     else if (voteForKeyFrame() && permittedKeyFrame())
     {
-        new_frame = getProblem()->emplaceFrame(KEY, incoming_capture_->getTimeStamp());
+        new_frame = getProblem()->emplaceKeyFrame( incoming_capture_->getTimeStamp());
         getProblem()->keyFrameCallback(new_frame, shared_from_this(), params_->time_tolerance);
         WOLF_DEBUG( "PR ",getName()," - capture ", incoming_capture_->id(), " appended to new KF " , new_frame->id() , " TS: ", new_frame->getTimeStamp());
     }
diff --git a/src/processor/processor_gnss_tdcp.cpp b/src/processor/processor_gnss_tdcp.cpp
index 7e5b9d9043437c88ec7866f35deb1baa92f7e216..1734ecf19d6f280e7b895df47f6a8606523712bd 100644
--- a/src/processor/processor_gnss_tdcp.cpp
+++ b/src/processor/processor_gnss_tdcp.cpp
@@ -53,7 +53,7 @@ void ProcessorGnssTdcp::processCapture(CaptureBasePtr _capture)
     // MAKE KF
     else if (voteForKeyFrame() && permittedKeyFrame())
     {
-        new_frame = getProblem()->emplaceFrame(KEY, incoming_capture_->getTimeStamp());
+        new_frame = getProblem()->emplaceKeyFrame( incoming_capture_->getTimeStamp());
         getProblem()->keyFrameCallback(new_frame, shared_from_this(), params_->time_tolerance);
         WOLF_DEBUG( "PR ",getName()," - capture ", incoming_capture_->id(), " appended to new KF " , new_frame->id() , " TS: ", new_frame->getTimeStamp());
     }
@@ -123,8 +123,8 @@ void ProcessorGnssTdcp::processKeyFrame(FrameBasePtr _keyframe, const double& _t
     }
 
     // Iterate over all KF of the trajectory with GNSS captures
-    for (auto KF_it = getProblem()->getTrajectory()->getFrameList().rbegin();
-         KF_it != getProblem()->getTrajectory()->getFrameList().rend();
+    for (auto KF_it = getProblem()->getTrajectory()->rbegin();
+         KF_it != getProblem()->getTrajectory()->rend();
          KF_it++)
     {
         auto KF_ref = *KF_it;
diff --git a/test/gtest_factor_gnss_fix_2d.cpp b/test/gtest_factor_gnss_fix_2d.cpp
index b220bbedf106e0bf6c1912ac0abffe28725ae2fc..013354b41f320c099f1de1218c14b22f8aee2fcd 100644
--- a/test/gtest_factor_gnss_fix_2d.cpp
+++ b/test/gtest_factor_gnss_fix_2d.cpp
@@ -112,7 +112,7 @@ TEST(FactorGnssFix2dTest, configure_tree)
 
     // Emplace a frame (FIXED)
     Vector3d frame_pose = (Vector3d() << t_map_base(0), t_map_base(1), o_map_base(0)).finished();
-    frame_ptr = problem_ptr->emplaceFrame(KEY, TimeStamp(0), frame_pose);
+    frame_ptr = problem_ptr->emplaceKeyFrame( TimeStamp(0), frame_pose);
     problem_ptr->keyFrameCallback(frame_ptr, nullptr, 1.0);
 
     // Create & process GNSS Fix capture
diff --git a/test/gtest_factor_gnss_pseudo_range.cpp b/test/gtest_factor_gnss_pseudo_range.cpp
index d0568f7deb1d9eea3ce1c789f5cdd6ac3127591a..b98aba78a545046425735fe44b0d4562eade2741 100644
--- a/test/gtest_factor_gnss_pseudo_range.cpp
+++ b/test/gtest_factor_gnss_pseudo_range.cpp
@@ -104,7 +104,7 @@ void setUpProblem()
     Vector7d frm_state;
     frm_state.head<3>() = t_map_base;
     frm_state.tail<4>() = q_map_base.coeffs();
-    frm = prb->emplaceFrame(KEY, TimeStamp(0), frm_state);
+    frm = prb->emplaceKeyFrame( TimeStamp(0), frm_state);
 
     // capture
     cap = CaptureBase::emplace<CaptureGnss>(frm, TimeStamp(0), gnss_sensor, nullptr);
diff --git a/test/gtest_factor_gnss_tdcp.cpp b/test/gtest_factor_gnss_tdcp.cpp
index 17166ed4ba63424202fd6c4949a5d5c8295b0f86..f0d45e936c2ea7f36d92f3951952a1051c9f9932 100644
--- a/test/gtest_factor_gnss_tdcp.cpp
+++ b/test/gtest_factor_gnss_tdcp.cpp
@@ -118,13 +118,13 @@ void setUpProblem()
     Vector7d frm_r_state;
     frm_r_state.head<3>() = t_map_base_r;
     frm_r_state.tail<4>() = q_map_base_r.coeffs();
-    frm_r = prb->emplaceFrame(KEY, TimeStamp(0), frm_r_state);
+    frm_r = prb->emplaceKeyFrame( TimeStamp(0), frm_r_state);
 
     // Frame k
     Vector7d frm_k_state;
     frm_k_state.head<3>() = t_map_base_k;
     frm_k_state.tail<4>() = q_map_base_k.coeffs();
-    frm_k = prb->emplaceFrame(KEY, TimeStamp(1), frm_k_state);
+    frm_k = prb->emplaceKeyFrame( TimeStamp(1), frm_k_state);
 
     // capture r
     cap_r = CaptureBase::emplace<CaptureGnss>(frm_r, TimeStamp(0), gnss_sensor, nullptr);