diff --git a/include/imu/processor/processor_compass.h b/include/imu/processor/processor_compass.h
index a3db652bc7efaf9ec94ce86e9fd1daa69c5fb5b7..346d640cd574333ebd525e67e27f5687249aa136 100644
--- a/include/imu/processor/processor_compass.h
+++ b/include/imu/processor/processor_compass.h
@@ -59,11 +59,11 @@ class ProcessorCompass : public ProcessorBase
 
     protected:
         void processCapture(CaptureBasePtr) override;
-        void processKeyFrame(FrameBasePtr, const double&) override;
+        void processKeyFrame(FrameBasePtr _frm) override;
         void processMatch(FrameBasePtr, CaptureBasePtr);
 
         bool triggerInCapture(CaptureBasePtr _cap) const override { return true;};
-        bool triggerInKeyFrame(FrameBasePtr _frm, const double& _time_tol) const override { return true;};
+        bool triggerInKeyFrame(FrameBasePtr _frm) const override { return true;};
 
         bool storeKeyFrame(FrameBasePtr _frm) override { return false;};
         bool storeCapture(CaptureBasePtr _cap) override { return false;};
diff --git a/src/processor/processor_compass.cpp b/src/processor/processor_compass.cpp
index 956f7581ced4bdf6ef66d8687a5dc999e20242e5..cd7d24ea2d08e4416a6783a992f4ae00c992ea87 100644
--- a/src/processor/processor_compass.cpp
+++ b/src/processor/processor_compass.cpp
@@ -39,24 +39,24 @@ ProcessorCompass::~ProcessorCompass()
 void ProcessorCompass::processCapture(CaptureBasePtr _capture)
 {
     // Search for any stored frame within time tolerance of capture
-    auto frame_pack = buffer_pack_kf_.select(_capture->getTimeStamp(), params_->time_tolerance);
-    if (frame_pack)
+    auto keyframe = buffer_frame_.select(_capture->getTimeStamp(), params_->time_tolerance);
+    if (keyframe)
     {
-        processMatch(frame_pack->key_frame, _capture);
+        processMatch(keyframe, _capture);
 
         // remove the frame and older frames
-        buffer_pack_kf_.removeUpTo(frame_pack->key_frame->getTimeStamp());
+        buffer_frame_.removeUpTo(keyframe->getTimeStamp());
     }
     // Otherwise: store capture
     // Note that more than one processor can be emplacing frames, so an older frame can arrive later than this one.
     else
-        buffer_capture_.add(_capture->getTimeStamp(), _capture);
+        buffer_capture_.emplace(_capture->getTimeStamp(), _capture);
 }
 
-void ProcessorCompass::processKeyFrame(FrameBasePtr _frame, const double& _time_tolerance)
+void ProcessorCompass::processKeyFrame(FrameBasePtr _frame)
 {
     // Search for any stored capture within time tolerance of frame
-    auto capture = buffer_capture_.select(_frame->getTimeStamp(), _time_tolerance);
+    auto capture = buffer_capture_.select(_frame->getTimeStamp(), getTimeTolerance());
     if (capture)
     {
         processMatch(_frame, capture);
@@ -65,10 +65,10 @@ void ProcessorCompass::processKeyFrame(FrameBasePtr _frame, const double& _time_
         buffer_capture_.removeUpTo(_frame->getTimeStamp() - 10);
     }
     // Otherwise: If frame is more recent than any capture in buffer -> store frame to be processed later in processCapture
-    else if (buffer_capture_.selectLastAfter(_frame->getTimeStamp(), _time_tolerance) == nullptr)
+    else if (buffer_capture_.selectLastAfter(_frame->getTimeStamp(), getTimeTolerance()) == nullptr)
     {
         // store frame
-        buffer_pack_kf_.add(_frame, _time_tolerance);
+        buffer_frame_.emplace(_frame->getTimeStamp(), _frame);
     }
     // Otherwise: There are captures more recent than the frame but none that match with it -> discard frame
 }
diff --git a/test/gtest_factor_imu.cpp b/test/gtest_factor_imu.cpp
index b2661cbe68b02d90813ace9ecb2094372ba81d29..5ca6bc4220ebe000537815630aa40f100b48e367 100644
--- a/test/gtest_factor_imu.cpp
+++ b/test/gtest_factor_imu.cpp
@@ -110,7 +110,7 @@ class FactorImu_biasTest_Static_NullBias : public testing::Test
         expected_final_state = x_origin; //null bias + static
 
         //set origin of the problem
-        KF0 = problem->setPrior(x_origin, P_origin, t, 0.005);
+        KF0 = problem->setPrior(x_origin, P_origin, t);
 //        KF0 = processor_imu->setOrigin(x_origin, t);
 
         //===================================================== END{INITIALIZATION}
@@ -1241,7 +1241,7 @@ class FactorImu_ODOM_biasTest_Move_NonNullBiasRotXY : public testing::Test
         Eigen::Quaterniond current_quatState(Eigen::Quaterniond::Identity());
 
         //set origin of the problem
-        origin_KF = problem->setPrior(x_origin, P_origin, t, 0.005);
+        origin_KF = problem->setPrior(x_origin, P_origin, t);
 //        origin_KF = processor_imu->setOrigin(x_origin, t);
 //        processor_odom3d->setOrigin(origin_KF);
 
diff --git a/test/gtest_feature_imu.cpp b/test/gtest_feature_imu.cpp
index b3941de78dcecb081472103f210cadbc8b9f2712..d8e8331ce02d07657fe266cac33fc7dea391409e 100644
--- a/test/gtest_feature_imu.cpp
+++ b/test/gtest_feature_imu.cpp
@@ -78,7 +78,7 @@ class FeatureImu_test : public testing::Test
     // Set the origin
         VectorComposite x0("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d::Zero()});
         VectorComposite s0("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-        origin_frame = problem->setPriorFactor(x0, s0, t, 0.01);
+        origin_frame = problem->setPriorFactor(x0, s0, t);
         processor_motion_ptr_->setOrigin(origin_frame);
 
     // Emplace one capture to store the Imu data arriving from (sensor / callback / file / etc.)
diff --git a/test/gtest_imu.cpp b/test/gtest_imu.cpp
index 11c5f9c6c2d110297b820ef619711aca47503c94..4b159f7869167f24bde9ec8600ccc25c48ba01c8 100644
--- a/test/gtest_imu.cpp
+++ b/test/gtest_imu.cpp
@@ -349,7 +349,7 @@ class Process_Factor_Imu : public testing::Test
             // wolf objects
             WOLF_INFO("x0c: ", x0c);
             WOLF_INFO("s0c: ", s0c);
-            KF_0    = problem->setPriorFactor(x0c, s0c, t0, dt/2);
+            KF_0    = problem->setPriorFactor(x0c, s0c, t0);
             processor_imu->setOrigin(KF_0);
             WOLF_INFO("prior set");
 
@@ -508,7 +508,7 @@ class Process_Factor_Imu : public testing::Test
             FrameBasePtr KF = problem->emplaceFrame(t, x1_exact);
 
             // ===================================== Imu CALLBACK
-            problem->keyFrameCallback(KF, nullptr, dt/2);
+            problem->keyFrameCallback(KF, nullptr);
 
             // Process Imu for the callback to take effect
             data = Vector6d::Zero();
diff --git a/test/gtest_imu2d_static_init.cpp b/test/gtest_imu2d_static_init.cpp
index f2c3338b4f2a92b089aa1162859b0dfa6974d871..41ed32418ea52f576656541ae673c0b2440a57c1 100644
--- a/test/gtest_imu2d_static_init.cpp
+++ b/test/gtest_imu2d_static_init.cpp
@@ -91,8 +91,8 @@ class ProcessorImu2dStaticInitTest : public testing::Test
         // Set the origin
         VectorComposite x_origin("POV", {Vector2d::Zero(), Vector1d::Zero(), Vector2d::Zero()});
         VectorComposite std_origin("POV", {0.001*Vector2d::Ones(), 0.001*Vector1d::Ones(), 0.001*Vector2d::Ones()});
-        //KF0_ = problem_ptr_->setPriorFix(x_origin, t0, dt/2);
-        KF0_ = problem_ptr_->setPriorFactor(x_origin, std_origin, 0, 0.01);
+        //KF0_ = problem_ptr_->setPriorFix(x_origin, t0);
+        KF0_ = problem_ptr_->setPriorFactor(x_origin, std_origin, 0);
 
     }
 
diff --git a/test/gtest_imu_mocap_fusion.cpp b/test/gtest_imu_mocap_fusion.cpp
index 449313c20332600b786ec192202934a8144afe36..6c42451dcb81020ecc6b4d28f4637ebe131ecba4 100644
--- a/test/gtest_imu_mocap_fusion.cpp
+++ b/test/gtest_imu_mocap_fusion.cpp
@@ -113,7 +113,7 @@ class ImuMocapFusion_Test : public testing::Test
         solver_->getSolverOptions().max_num_iterations = 500;
         // initial guess
         VectorComposite x_origin("POV", {w_p_wb, w_q_b.coeffs(), w_v_wb});
-        FrameBasePtr KF1 = problem_->setPriorInitialGuess(x_origin, 0, 0.0005);  // if mocap used
+        FrameBasePtr KF1 = problem_->setPriorInitialGuess(x_origin, 0);  // if mocap used
 
         // pose sensor and proc (to get extrinsics in the prb)
         auto intr_sp = std::make_shared<ParamsSensorPose>();
@@ -300,4 +300,4 @@ int main(int argc, char **argv)
 {
   testing::InitGoogleTest(&argc, argv);
   return RUN_ALL_TESTS();
-}
\ No newline at end of file
+}
diff --git a/test/gtest_imu_static_init.cpp b/test/gtest_imu_static_init.cpp
index 7b47cd1d35e71814a9e6c96b82bdf27b0c435f33..69527fa37a6bbd984243ef49c04d870212974bc1 100644
--- a/test/gtest_imu_static_init.cpp
+++ b/test/gtest_imu_static_init.cpp
@@ -97,12 +97,12 @@ class ProcessorImuStaticInitTest : public testing::Test
         // Set the origin
         VectorComposite x0c("POV", {Vector3d::Zero(), (Vector4d() << 0,0,0,1).finished(), Vector3d::Zero()});
         WOLF_INFO("x0c is: \n", x0c);
-        //KF0_ = problem_ptr_->setPriorFix(x0c, t0, dt/2);
+        //KF0_ = problem_ptr_->setPriorFix(x0c, t0);
 
         Vector4d q_init; q_init << 0,0,0,1;
         VectorComposite x_origin("POV", {Vector3d::Zero(), q_init, Vector3d::Zero()});
         VectorComposite std_origin("POV", {0.001*Vector3d::Ones(), 0.001*Vector3d::Ones(), 0.001*Vector3d::Ones()});
-        KF0_ = problem_ptr_->setPriorFactor(x_origin, std_origin, 0, 0.01);
+        KF0_ = problem_ptr_->setPriorFactor(x_origin, std_origin, 0);
 
     }
 
diff --git a/test/gtest_processor_imu.cpp b/test/gtest_processor_imu.cpp
index 408a93e5871676b1bbd13d887205186069027f3a..1fe2863a6afb2488d7f9ad8f2d5b54fa8cec7b60 100644
--- a/test/gtest_processor_imu.cpp
+++ b/test/gtest_processor_imu.cpp
@@ -165,7 +165,7 @@ TEST(ProcessorImu, voteForKeyFrame)
     TimeStamp t(0);
     VectorComposite x0("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d::Zero()});
     VectorComposite s0("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0, s0, t, 0.01);
+    problem->setPriorFactor(x0, s0, t);
 
     //data variable and covariance matrix
     // since we integrate only a few times, give the capture a big covariance, otherwise it will be so small that it won't pass following assertions
@@ -233,7 +233,7 @@ TEST_F(ProcessorImut, acc_x)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d::Zero()});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -264,7 +264,7 @@ TEST_F(ProcessorImut, acc_y)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d::Zero()});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -306,7 +306,7 @@ TEST_F(ProcessorImut, acc_z)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d::Zero()});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -348,7 +348,7 @@ TEST_F(ProcessorImut, check_Covariance)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d::Zero()});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -374,7 +374,7 @@ TEST_F(ProcessorImut, gyro_x)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d::Zero()});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -431,7 +431,7 @@ TEST_F(ProcessorImut, gyro_x_biasedAbx)
     // init things
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d::Zero()});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -489,7 +489,7 @@ TEST_F(ProcessorImut, gyro_xy_biasedAbxy)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d::Zero()});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -545,7 +545,7 @@ TEST_F(ProcessorImut, gyro_z)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d::Zero()});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -588,7 +588,7 @@ TEST_F(ProcessorImut, gyro_xyz)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d::Zero()});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -680,7 +680,7 @@ TEST_F(ProcessorImut, gyro_z_ConstVelocity)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d(2,0,0)});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -724,7 +724,7 @@ TEST_F(ProcessorImut, gyro_x_ConstVelocity)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d(2,0,0)});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -773,7 +773,7 @@ TEST_F(ProcessorImut, gyro_xy_ConstVelocity)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d(2,0,0)});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -822,7 +822,7 @@ TEST_F(ProcessorImut, gyro_y_ConstVelocity)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d(2,0,0)});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -870,7 +870,7 @@ TEST_F(ProcessorImut, gyro_xyz_ConstVelocity)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d(2,0,0)});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -964,7 +964,7 @@ TEST_F(ProcessorImut, gyro_x_acc_x)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d(0,0,0)});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -1018,7 +1018,7 @@ TEST_F(ProcessorImut, gyro_y_acc_y)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d(0,0,0)});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
@@ -1072,7 +1072,7 @@ TEST_F(ProcessorImut, gyro_z_acc_z)
     MatrixXd P0(9,9); P0.setIdentity();
     x0c = VectorComposite("POV", {Vector3d::Zero(), Quaterniond::Identity().coeffs(), Vector3d(0,0,0)});
     s0c = VectorComposite("POV", {Vector3d(1,1,1), Vector3d(1,1,1), Vector3d(1,1,1)});
-    problem->setPriorFactor(x0c, s0c, t, 0.01);
+    problem->setPriorFactor(x0c, s0c, t);
     // process this capture for joining prior KF (t=0) and set it as origin KF
     cap_imu_ptr->setTimeStamp(t);
     cap_imu_ptr->process();
diff --git a/test/gtest_processor_imu2d.cpp b/test/gtest_processor_imu2d.cpp
index 12d91d550645c60af2bb7707a61acc02ef89db1a..b13d5d27a3dca5cc255c913de06f34ca6574957e 100644
--- a/test/gtest_processor_imu2d.cpp
+++ b/test/gtest_processor_imu2d.cpp
@@ -134,7 +134,7 @@ TEST_F(ProcessorImu2dTest, Prior)
     x0c['P'] = Vector2d(1,2);
     x0c['O'] = Vector1d(0);
     x0c['V'] = Vector2d(4,5);
-    auto KF0 = problem->setPriorFix(x0c, t0, dt/2);
+    auto KF0 = problem->setPriorFix(x0c, t0);
     processor_motion->setOrigin(KF0);
     //WOLF_DEBUG("x0 =", x0c);
     //WOLF_DEBUG("KF0 state =", problem->getTrajectory()->getFrameMap().at(t)->getState("POV"));
@@ -148,7 +148,7 @@ TEST_F(ProcessorImu2dTest, MRUA)
    x0c['P'] = Vector2d(1,2);
    x0c['O'] = Vector1d(0);
    x0c['V'] = Vector2d(4,5);
-   auto KF0 = problem->setPriorFix(x0c, t0, dt/2);
+   auto KF0 = problem->setPriorFix(x0c, t0);
    processor_motion->setOrigin(KF0);
 
    //WOLF_DEBUG("Current State: ", problem->getState());
@@ -175,7 +175,7 @@ TEST_F(ProcessorImu2dTest, parabola)
    x0c['V'] = Vector2d(v0, 0);
 
    data_cov *= 1e-3;
-   auto KF0 = problem->setPriorFix(x0c, t0, dt/2);
+   auto KF0 = problem->setPriorFix(x0c, t0);
    processor_motion->setOrigin(KF0);
 
    for(t = t0+dt; t <= t0 + 0.5 + dt/2; t+=dt){
@@ -205,7 +205,7 @@ TEST_F(ProcessorImu2dTest, parabola_deluxe)
    x0c['V'] = v0;
 
    data_cov *= 1e-3;
-   auto KF0 = problem->setPriorFix(x0c, t0, dt/2);
+   auto KF0 = problem->setPriorFix(x0c, t0);
    processor_motion->setOrigin(KF0);
 
    for(t = t0+dt; t <= t0 + 0.5 + dt/2; t+=dt){
@@ -237,7 +237,7 @@ TEST_F(ProcessorImu2dTest, Circular_move)
 
    data_cov *= 1e-3;
    //dt = 0.0001;
-   auto KF0 = problem->setPriorFix(x0c, t0, dt/2);
+   auto KF0 = problem->setPriorFix(x0c, t0);
    processor_motion->setOrigin(KF0);
 
    WOLF_DEBUG("Current State: ", problem->getState());
diff --git a/test/gtest_processor_motion_intrinsics_update.cpp b/test/gtest_processor_motion_intrinsics_update.cpp
index 64d4a8f0b3b4672a341cf4d8bf4e09ccf5754fbd..fc7516925ecdbc3d7175f0522cc5a246310291e1 100644
--- a/test/gtest_processor_motion_intrinsics_update.cpp
+++ b/test/gtest_processor_motion_intrinsics_update.cpp
@@ -98,7 +98,7 @@ class ProcessorImuTest : public testing::Test
             params_->time_tolerance = 0.0025;
             processor_ = std::static_pointer_cast<ProcessorImu>(problem_->installProcessor("ProcessorImu", "processor imu", sensor_, params_));
 
-            KF0_ = problem_->setPriorFactor(x_origin, std_origin, 0, 0.01);
+            KF0_ = problem_->setPriorFactor(x_origin, std_origin, 0);
 
             Vector6d bias; bias << 0.42,0,0, 0,0,0;
             // Vector6d bias; bias << 0.0,0,0, 0.42,0,0;