diff --git a/CMakeLists.txt b/CMakeLists.txt
index b8fa448312e146b9956a5c0396e0802f8c99dbf6..b32a36ea21f9332c366feb59d0e5ad45f88e35df 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,5 +1,5 @@
 # Pre-requisites about cmake itself
-CMAKE_MINIMUM_REQUIRED(VERSION 3.10)
+CMAKE_MINIMUM_REQUIRED(VERSION 3.16)
 
 # MAC OSX RPATH
 SET(CMAKE_MACOSX_RPATH 1)
diff --git a/demos/demo_factor_imu.cpp b/demos/demo_factor_imu.cpp
index f60c57bf58bc9afc03c48ccf878d07a77db486fd..3d3efe440bef50d072230a3a75077e1f112408f8 100644
--- a/demos/demo_factor_imu.cpp
+++ b/demos/demo_factor_imu.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/demo_imuDock.cpp b/demos/demo_imuDock.cpp
index 16c2a3439e5efd9f9c34effe61562f64dd79f258..11306ccf977b14f0db246e974b9c9754e01ef10b 100644
--- a/demos/demo_imuDock.cpp
+++ b/demos/demo_imuDock.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/demo_imuDock_autoKFs.cpp b/demos/demo_imuDock_autoKFs.cpp
index c469d38e337505460ef9a7b424bf25df5ab2e0f2..fdb9d4572fead47bd79347bec256a12d969a3ebe 100644
--- a/demos/demo_imuDock_autoKFs.cpp
+++ b/demos/demo_imuDock_autoKFs.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/demo_imuPlateform_Offline.cpp b/demos/demo_imuPlateform_Offline.cpp
index 996dcddd3f31314f60a04f8e3856d56f6a270b1a..4d36ba5b23cb8deee69a418b5c6b1ea819ffd159 100644
--- a/demos/demo_imuPlateform_Offline.cpp
+++ b/demos/demo_imuPlateform_Offline.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/demo_imu_constrained0.cpp b/demos/demo_imu_constrained0.cpp
index c71aa7c7f02d32ddd2af248b164937a92413e9c0..8e5f37a111be91a4fddc08a758645ca9ef50e289 100644
--- a/demos/demo_imu_constrained0.cpp
+++ b/demos/demo_imu_constrained0.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/demo_processor_imu.cpp b/demos/demo_processor_imu.cpp
index 9feeb4572e473d44dd4ad5859351db0528b267d6..03e53f8a529965519afb047ca315cf00b732f2ac 100644
--- a/demos/demo_processor_imu.cpp
+++ b/demos/demo_processor_imu.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/demos/demo_processor_imu_jacobians.cpp b/demos/demo_processor_imu_jacobians.cpp
index c64e1e5e02b6d9ef7c03e00c1633028725cdd9b5..52b512fe35c766a3f3059f4186eb71d5632201ae 100644
--- a/demos/demo_processor_imu_jacobians.cpp
+++ b/demos/demo_processor_imu_jacobians.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/capture/capture_compass.h b/include/imu/capture/capture_compass.h
index fc19875693f17b6b777ee5186662a6be5cecbe0d..8c656693f200eceb8969b53c4bead30363b7505d 100644
--- a/include/imu/capture/capture_compass.h
+++ b/include/imu/capture/capture_compass.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/capture/capture_imu.h b/include/imu/capture/capture_imu.h
index 799b596ae493221da3489cc8fe44a056d6eecf7a..82e876f4d63b3f9eaeb6282817aba6f8dab6eabc 100644
--- a/include/imu/capture/capture_imu.h
+++ b/include/imu/capture/capture_imu.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/factor/factor_compass_3d.h b/include/imu/factor/factor_compass_3d.h
index 72cb9bcd91c865da324da3aff332f012a64ec4c0..4a3395457cb4ec12b8ac7a6c7819f075a645e880 100644
--- a/include/imu/factor/factor_compass_3d.h
+++ b/include/imu/factor/factor_compass_3d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/factor/factor_fix_bias.h b/include/imu/factor/factor_fix_bias.h
index 636e931bd56fd504c3248c1cbf69240591f3e8a6..19b9a6a904a973e2b6202be4200f1a668e58d8e2 100644
--- a/include/imu/factor/factor_fix_bias.h
+++ b/include/imu/factor/factor_fix_bias.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/factor/factor_imu.h b/include/imu/factor/factor_imu.h
index 3d1c9739ade5c255d36138114bc1f331e818a7e1..2ca0a97d847ee7522993aaa461b8249fea9b1974 100644
--- a/include/imu/factor/factor_imu.h
+++ b/include/imu/factor/factor_imu.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/factor/factor_imu2d.h b/include/imu/factor/factor_imu2d.h
index c5184c40ed779ccafb8053e0ea46d0a017feea80..2b5960d4b525cc29dc080967bc4734336062debc 100644
--- a/include/imu/factor/factor_imu2d.h
+++ b/include/imu/factor/factor_imu2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/factor/factor_imu2d_with_gravity.h b/include/imu/factor/factor_imu2d_with_gravity.h
index 29b53e2de855a51be0e41a1747f04946bef9b530..e97480cd716d4fc050d5a95da94f1c28b9c47a05 100644
--- a/include/imu/factor/factor_imu2d_with_gravity.h
+++ b/include/imu/factor/factor_imu2d_with_gravity.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/feature/feature_imu.h b/include/imu/feature/feature_imu.h
index eb3881b62e2d4225f9453b7318cd5ce1f65a9ebf..49b043ac6b392543279ed16fc201f34dca3c79c9 100644
--- a/include/imu/feature/feature_imu.h
+++ b/include/imu/feature/feature_imu.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/feature/feature_imu2d.h b/include/imu/feature/feature_imu2d.h
index b5ca183e41d5a4fd2d83f6290805acb00b083ea4..82b6d0edf18a76e59482465e80db339b81cb24f8 100644
--- a/include/imu/feature/feature_imu2d.h
+++ b/include/imu/feature/feature_imu2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/math/imu2d_tools.h b/include/imu/math/imu2d_tools.h
index e4730ce66ae980feb62a73904c90465bd22df21f..f725aa9d5c21041e7713fab10fd11f7499a67474 100644
--- a/include/imu/math/imu2d_tools.h
+++ b/include/imu/math/imu2d_tools.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/math/imu_tools.h b/include/imu/math/imu_tools.h
index 1022671eaa4f8ccbdd1e59dda05fdfbbb765eed8..648716ed46086a790edf4d3be3003f42b4ea1e70 100644
--- a/include/imu/math/imu_tools.h
+++ b/include/imu/math/imu_tools.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/processor/processor_compass.h b/include/imu/processor/processor_compass.h
index 3ec76051e5b8f8b7de7f3e184ee7ac705bdbbcf0..9ae9051532810f6139504e01f1ced26bbb0b0248 100644
--- a/include/imu/processor/processor_compass.h
+++ b/include/imu/processor/processor_compass.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/processor/processor_imu.h b/include/imu/processor/processor_imu.h
index d37b56bc18753ac2d9dbe289693115a763d5eef3..20e348bb410b0d1a249e40eba83b6215f805240b 100644
--- a/include/imu/processor/processor_imu.h
+++ b/include/imu/processor/processor_imu.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/processor/processor_imu2d.h b/include/imu/processor/processor_imu2d.h
index aaf554b0512c4c33074a448140728c722206e4be..6b14d6809544c48226ad43e176218c71d76e41d4 100644
--- a/include/imu/processor/processor_imu2d.h
+++ b/include/imu/processor/processor_imu2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/sensor/sensor_compass.h b/include/imu/sensor/sensor_compass.h
index 2c45d45480c1e803464d94cad37fed6c8aa3ba62..ac4280d21c40072dc77af7acc13939c5bd20d861 100644
--- a/include/imu/sensor/sensor_compass.h
+++ b/include/imu/sensor/sensor_compass.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/sensor/sensor_imu.h b/include/imu/sensor/sensor_imu.h
index 0e85008b661a8023a44af0fbe3eeb5af5960a742..abd558d825fc5b84913303659ddf4e929afce2f7 100644
--- a/include/imu/sensor/sensor_imu.h
+++ b/include/imu/sensor/sensor_imu.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/include/imu/sensor/sensor_imu2d.h b/include/imu/sensor/sensor_imu2d.h
index 6c775f1d41ea3c10828e0fab2c0526ba73823206..870d8373d97635f2ea44d896fa3d7263f4e58249 100644
--- a/include/imu/sensor/sensor_imu2d.h
+++ b/include/imu/sensor/sensor_imu2d.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/license_header_2023.txt b/license_header_2024.txt
similarity index 88%
rename from license_header_2023.txt
rename to license_header_2024.txt
index 2ddae24c37e894a9a46e58afd6db8ebf8ff14b92..517c00582a211181c9edb8e96f0800f9aea56848 100644
--- a/license_header_2023.txt
+++ b/license_header_2024.txt
@@ -1,4 +1,4 @@
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/capture/capture_imu.cpp b/src/capture/capture_imu.cpp
index 748de9d4edffe258098d248271a58aa59f8ab84e..d05025f75e0f071b686ff06180e22f0b46575a88 100644
--- a/src/capture/capture_imu.cpp
+++ b/src/capture/capture_imu.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/feature/feature_imu.cpp b/src/feature/feature_imu.cpp
index 6034da9f6453e23b1e9676f5eee5a6ae29343327..19797ab3856f21fe725ba14b3f40773eda8d4982 100644
--- a/src/feature/feature_imu.cpp
+++ b/src/feature/feature_imu.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/feature/feature_imu2d.cpp b/src/feature/feature_imu2d.cpp
index 73073046874cff677adc272ff5237e5d5e0adee5..fd933cb4293d702e8367a20f99b035b6672e4881 100644
--- a/src/feature/feature_imu2d.cpp
+++ b/src/feature/feature_imu2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/processor_compass.cpp b/src/processor/processor_compass.cpp
index 8d3a279d837fee862e9f4aeff72fb2715ffcf004..4c5a8e44aa41ac4040790d42aaa078124aa857a4 100644
--- a/src/processor/processor_compass.cpp
+++ b/src/processor/processor_compass.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/processor_imu.cpp b/src/processor/processor_imu.cpp
index fdaf03e64c3ec240c2a9fc2e03b5e4c7bb5e6a47..eee9feeac1e6b6e91162fb0add028e910d5e099d 100644
--- a/src/processor/processor_imu.cpp
+++ b/src/processor/processor_imu.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/processor/processor_imu2d.cpp b/src/processor/processor_imu2d.cpp
index a3a163a17d6a4bf96a698e239312c5ffe16d5c4e..9e132fed7bb4cea3b57888e9d8286f7f4fd59e31 100644
--- a/src/processor/processor_imu2d.cpp
+++ b/src/processor/processor_imu2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/sensor/sensor_compass.cpp b/src/sensor/sensor_compass.cpp
index 3baf37237e66a3236ebb2e4cb6da32f07f54f3cc..46fd728fcd1b0e689456a885c45b0264741b12cd 100644
--- a/src/sensor/sensor_compass.cpp
+++ b/src/sensor/sensor_compass.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/sensor/sensor_imu.cpp b/src/sensor/sensor_imu.cpp
index 8f70df2445812a586029d350aafea42eddb65048..b2c005441722535fad9199541f7e9ae10a9db545 100644
--- a/src/sensor/sensor_imu.cpp
+++ b/src/sensor/sensor_imu.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/sensor/sensor_imu2d.cpp b/src/sensor/sensor_imu2d.cpp
index 231cb7b352807117b329b44a0eafb9b10ebe9c5f..dee1bc8fe57272cebcb9ccccc60fa955fa4416ee 100644
--- a/src/sensor/sensor_imu2d.cpp
+++ b/src/sensor/sensor_imu2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/yaml/processor_imu2d_yaml.cpp b/src/yaml/processor_imu2d_yaml.cpp
index dd9be9e6e99e2f129832625a6fae763f64f78bd8..fefe66d9820cf97f3664c9a1d5ac089c6ba08cfc 100644
--- a/src/yaml/processor_imu2d_yaml.cpp
+++ b/src/yaml/processor_imu2d_yaml.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/yaml/processor_imu_yaml.cpp b/src/yaml/processor_imu_yaml.cpp
index 479bcab9aa4681f2d854e92d97a721bcf0da0021..6da9ba3f8d97f43f7fec5b8cd5b8f23b24e4d5ee 100644
--- a/src/yaml/processor_imu_yaml.cpp
+++ b/src/yaml/processor_imu_yaml.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/yaml/sensor_imu2d_yaml.cpp b/src/yaml/sensor_imu2d_yaml.cpp
index b6fa41e91144ec9c4a4db58030c06065f1c7204e..4d970c93e76f8d1c47973f4c27699c107c5b2d73 100644
--- a/src/yaml/sensor_imu2d_yaml.cpp
+++ b/src/yaml/sensor_imu2d_yaml.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/src/yaml/sensor_imu_yaml.cpp b/src/yaml/sensor_imu_yaml.cpp
index b64db55f560e82865de1f1340c4e3a8f27a0a720..5201c8b4b4f3ea859b72f642c8b5db377337d5ef 100644
--- a/src/yaml/sensor_imu_yaml.cpp
+++ b/src/yaml/sensor_imu_yaml.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest/CMakeLists.txt b/test/gtest/CMakeLists.txt
index 6209d341bcd32308bd522ab1990eb0cc82692012..f7bcca73296dc380b6c5232e6078c0e453e9b5a9 100644
--- a/test/gtest/CMakeLists.txt
+++ b/test/gtest/CMakeLists.txt
@@ -1,73 +1,31 @@
-if(${CMAKE_VERSION} VERSION_LESS "3.11.0") 
-  message("CMake version less than 3.11.0")
 
-  # Enable ExternalProject CMake module
-  include(ExternalProject)
+include(FetchContent)
 
-  set(GTEST_FORCE_SHARED_CRT ON)
-  set(GTEST_DISABLE_PTHREADS ON) # without this in ubuntu 18.04 we get linking errors
+FetchContent_Declare(
+  googletest
+  GIT_REPOSITORY https://github.com/google/googletest.git 
+  GIT_TAG main)
 
-  # Download GoogleTest
-  ExternalProject_Add(googletest
-      GIT_REPOSITORY https://github.com/google/googletest.git
-      GIT_TAG        v1.8.x
-      # TIMEOUT 1 # We'll try this
-      CMAKE_ARGS -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_DEBUG:PATH=DebugLibs
-      -DCMAKE_ARCHIVE_OUTPUT_DIRECTORY_RELEASE:PATH=ReleaseLibs
-      -DCMAKE_CXX_FLAGS=${MSVC_COMPILER_DEFS}
-      -Dgtest_force_shared_crt=${GTEST_FORCE_SHARED_CRT}
-      -Dgtest_disable_pthreads=${GTEST_DISABLE_PTHREADS}
-      -DBUILD_GTEST=ON
-      PREFIX "${CMAKE_CURRENT_BINARY_DIR}"
-      # Disable install step
-      INSTALL_COMMAND ""
-      UPDATE_DISCONNECTED 1 # 1: do not update googletest; 0: update googletest via github
-  )
+SET(INSTALL_GTEST OFF) # Disable installation of googletest
+FetchContent_MakeAvailable(googletest)
 
-  # Get GTest source and binary directories from CMake project
-
-  # Specify include dir
-  ExternalProject_Get_Property(googletest source_dir)
-  set(GTEST_INCLUDE_DIRS ${source_dir}/googletest/include PARENT_SCOPE)
-
-  # Specify MainTest's link libraries
-  ExternalProject_Get_Property(googletest binary_dir)
-  set(GTEST_LIBS_DIR ${binary_dir}/googlemock/gtest PARENT_SCOPE)
-
-  # Create a libgtest target to be used as a dependency by test programs
-  add_library(libgtest IMPORTED STATIC GLOBAL)
-  add_dependencies(libgtest googletest)
-
-  # Set libgtest properties
-  set_target_properties(libgtest PROPERTIES
-      "IMPORTED_LOCATION" "${binary_dir}/googlemock/gtest/libgtest.a"
-      "IMPORTED_LINK_INTERFACE_LIBRARIES" "${CMAKE_THREAD_LIBS_INIT}"
-  )
-
-else()
-
-  message("CMake version equal or greater than 3.11.0")
+function(wolf_add_gtest target)
+  add_executable(${target} ${ARGN})
+  target_link_libraries(${target} gtest_main ${PLUGIN_NAME})
+  add_test(NAME ${target} COMMAND ${target})
+endfunction()
+include(FetchContent)
 
-  include(FetchContent)
+FetchContent_Declare(
+  googletest
+  GIT_REPOSITORY https://github.com/google/googletest.git 
+  GIT_TAG main)
 
-  FetchContent_Declare(
-    googletest
-    GIT_REPOSITORY https://github.com/google/googletest.git 
-    GIT_TAG main)
+SET(INSTALL_GTEST OFF) # Disable installation of googletest
+FetchContent_MakeAvailable(googletest)
 
-  SET(INSTALL_GTEST OFF) # Disable installation of googletest
-  FetchContent_MakeAvailable(googletest)
-    
-endif()
-  
 function(wolf_add_gtest target)
   add_executable(${target} ${ARGN})
-  if(${CMAKE_VERSION} VERSION_LESS "3.11.0") 
-    add_dependencies(${target} libgtest)
-    target_link_libraries(${target} libgtest ${PLUGIN_NAME})
-    target_include_directories(${target} PUBLIC ${GTEST_INCLUDE_DIRS})
-  else()
-    target_link_libraries(${target} gtest_main ${PLUGIN_NAME})
-  endif()
+  target_link_libraries(${target} gtest_main ${PLUGIN_NAME})
   add_test(NAME ${target} COMMAND ${target})
 endfunction()
diff --git a/test/gtest_example.cpp b/test/gtest_example.cpp
index c4e1c576511647b978db39fffcc02f57c1d3a4e4..635c09e7d747215b0997b0dd56aa06739099dadb 100644
--- a/test/gtest_example.cpp
+++ b/test/gtest_example.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_factor_compass_3d.cpp b/test/gtest_factor_compass_3d.cpp
index 0c0bd8bfcb112560e6bf7ec788fccbc2d91b003a..88b3a80b8c213324e72abba66b260454e7fedbac 100644
--- a/test/gtest_factor_compass_3d.cpp
+++ b/test/gtest_factor_compass_3d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_factor_imu.cpp b/test/gtest_factor_imu.cpp
index bc21b5ef5f80c630ab3c578e8e6066afe2802403..c0e69930aeba8673d818257b4da19678a8a03e22 100644
--- a/test/gtest_factor_imu.cpp
+++ b/test/gtest_factor_imu.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_factor_imu2d.cpp b/test/gtest_factor_imu2d.cpp
index 97543a537d6f067a617e249d41e2e8d83c7b0bfe..f8a6d147ea84084f74a7aa146e998994148b4b3a 100644
--- a/test/gtest_factor_imu2d.cpp
+++ b/test/gtest_factor_imu2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_factor_imu2d_with_gravity.cpp b/test/gtest_factor_imu2d_with_gravity.cpp
index d6eb9c7798da9670088a3afc4c0c4a4ece5d76ce..afc5ebff26b801c74a4ae321ba71390215a345e6 100644
--- a/test/gtest_factor_imu2d_with_gravity.cpp
+++ b/test/gtest_factor_imu2d_with_gravity.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_feature_imu.cpp b/test/gtest_feature_imu.cpp
index e6f70029b78356471aa6c5b592c1d4c087bcc414..8b56e378d438a83efea77268209571fe4fbd3352 100644
--- a/test/gtest_feature_imu.cpp
+++ b/test/gtest_feature_imu.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_imu.cpp b/test/gtest_imu.cpp
index 5172314dcccf59169cad1e2714cb1ed2b2884d0c..4d280611ee1dccaa80c2043ef0503a22f065a395 100644
--- a/test/gtest_imu.cpp
+++ b/test/gtest_imu.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_imu2d_static_init.cpp b/test/gtest_imu2d_static_init.cpp
index d4e20573f5de51acb9b3218a71ff5cbe0d0daf25..3a47f91ef636131253b0d52c4740365c8392c13e 100644
--- a/test/gtest_imu2d_static_init.cpp
+++ b/test/gtest_imu2d_static_init.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_imu2d_tools.cpp b/test/gtest_imu2d_tools.cpp
index 0c43136c059e0371bfaceda6703c5765f16dd919..9d184bd64546e23d97a9cf3284ebca2e480f72c3 100644
--- a/test/gtest_imu2d_tools.cpp
+++ b/test/gtest_imu2d_tools.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_imu_mocap_fusion.cpp b/test/gtest_imu_mocap_fusion.cpp
index 0034f0f63cb45e0063017f0a064b4018c2d86e27..643cd94e1e9ab8ba496b5d378c5049ab82cebd12 100644
--- a/test/gtest_imu_mocap_fusion.cpp
+++ b/test/gtest_imu_mocap_fusion.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_imu_static_init.cpp b/test/gtest_imu_static_init.cpp
index f70f7088b13173ee6b85896b238748b2f31c4835..d6b1dab42e97a288e26f447cf75e31513be372c6 100644
--- a/test/gtest_imu_static_init.cpp
+++ b/test/gtest_imu_static_init.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_imu_tools.cpp b/test/gtest_imu_tools.cpp
index f09e224b21dae8f14a2ef4414294d75d206691b0..1f7c630e5e85832113fbe5ccd560a95d1ecc3ca3 100644
--- a/test/gtest_imu_tools.cpp
+++ b/test/gtest_imu_tools.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_imu.cpp b/test/gtest_processor_imu.cpp
index 1fddeaaff66ec6232c394177f5cba53a19117a3e..5d98e73dbc1dcb41be7cd7f5eaa4de2557fc3b91 100644
--- a/test/gtest_processor_imu.cpp
+++ b/test/gtest_processor_imu.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_imu2d.cpp b/test/gtest_processor_imu2d.cpp
index 2880c4a1cfdaf972033c4321b0efb36f032b88d9..749da124d8910a8e9cfb4cc5a7326a3ed970b7c4 100644
--- a/test/gtest_processor_imu2d.cpp
+++ b/test/gtest_processor_imu2d.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_imu2d_with_gravity.cpp b/test/gtest_processor_imu2d_with_gravity.cpp
index 5ed15c13b326d25d128d7cf21d9c0e321001342e..b3627da9494be27821af5e2e74bf773b5ab57642 100644
--- a/test/gtest_processor_imu2d_with_gravity.cpp
+++ b/test/gtest_processor_imu2d_with_gravity.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_imu_jacobians.cpp b/test/gtest_processor_imu_jacobians.cpp
index a20cfeebd28a190b98a69dfd59ec28cbffdfa1de..8e1fb13f50eda07d63fbec2077c2ed9cc875fdb8 100644
--- a/test/gtest_processor_imu_jacobians.cpp
+++ b/test/gtest_processor_imu_jacobians.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_processor_motion_intrinsics_update.cpp b/test/gtest_processor_motion_intrinsics_update.cpp
index cc50fcc6d57335a51640ea98f1e808c36a6e0f45..db254a45884ead363d55658f02b3651c36726662 100644
--- a/test/gtest_processor_motion_intrinsics_update.cpp
+++ b/test/gtest_processor_motion_intrinsics_update.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/gtest_sensor_compass.cpp b/test/gtest_sensor_compass.cpp
index fd47f013aff925418995bd7338b95d4cf91b598f..826c239b7ded3378d6eea83a04f43f3fd6bdc937 100644
--- a/test/gtest_sensor_compass.cpp
+++ b/test/gtest_sensor_compass.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/processor_imu2d_UnitTester.cpp b/test/processor_imu2d_UnitTester.cpp
index e837e6ef1ffaa1ecbf01168997bb283dd8c0d63f..1bc4467fb2956644f366aacdc79445e39109b389 100644
--- a/test/processor_imu2d_UnitTester.cpp
+++ b/test/processor_imu2d_UnitTester.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/processor_imu2d_UnitTester.h b/test/processor_imu2d_UnitTester.h
index 25ab07432053f4d2f516c0b373d8c6d289a076d7..dc59e1c0fbef7a9c17f5bd7a08955ad5079f5a98 100644
--- a/test/processor_imu2d_UnitTester.h
+++ b/test/processor_imu2d_UnitTester.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/processor_imu_UnitTester.cpp b/test/processor_imu_UnitTester.cpp
index 8b16351bbea05a359a7b9206dd0cc81295cee9ea..2c3c984063b022dcfb7bd325135d86fa251c1814 100644
--- a/test/processor_imu_UnitTester.cpp
+++ b/test/processor_imu_UnitTester.cpp
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //
diff --git a/test/processor_imu_UnitTester.h b/test/processor_imu_UnitTester.h
index 251de7f6140d2e968bcb945c61cae576d25846dd..af812f11ac8be2e7a0a18f5030bd38dd17189f8d 100644
--- a/test/processor_imu_UnitTester.h
+++ b/test/processor_imu_UnitTester.h
@@ -1,6 +1,6 @@
 //--------LICENSE_START--------
 //
-// Copyright (C) 2020,2021,2022,2023 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
+// Copyright (C) 2020,2021,2022,2023,2024 Institut de Robòtica i Informàtica Industrial, CSIC-UPC.
 // Authors: Joan Solà Ortega (jsola@iri.upc.edu)
 // All rights reserved.
 //