diff --git a/src/processor/processor_imu.cpp b/src/processor/processor_imu.cpp
index 5e86b56d933dbe001fb8e265fac07f9a876191d9..763bb5277e50795555050c127384d7c3be6aa621 100644
--- a/src/processor/processor_imu.cpp
+++ b/src/processor/processor_imu.cpp
@@ -6,8 +6,7 @@
 namespace wolf {
 
 ProcessorImu::ProcessorImu(ProcessorParamsImuPtr _params_motion_Imu) :
-        // ProcessorMotion("ProcessorImu", 3, 10, 10, 9, 6, 6, _params_motion_Imu),
-        ProcessorMotion("ProcessorImu", 10, 10, 9, 6, 6, _params_motion_Imu),
+        ProcessorMotion("ProcessorImu", 3, 10, 10, 9, 6, 6, _params_motion_Imu),
         params_motion_Imu_(std::make_shared<ProcessorParamsImu>(*_params_motion_Imu))
 {
     // Set constant parts of Jacobians