diff --git a/test/gtest_imu.cpp b/test/gtest_imu.cpp
index a7eb2f0c7def414fbf273eb4b44e56cfa1a99e77..5172314dcccf59169cad1e2714cb1ed2b2884d0c 100644
--- a/test/gtest_imu.cpp
+++ b/test/gtest_imu.cpp
@@ -1051,6 +1051,42 @@ TEST_F(Process_Factor_Imu, MotionConstant_NonNullState_PQV_b__PQV_b) // F_ixed__
 
 }
 
+TEST_F(Process_Factor_Imu, bootstrap)
+{
+    processor_imu->setVotingActive(true);
+    processor_imu->setMaxTimeSpan(0.04);
+    processor_imu->bootstrapEnable(true);
+
+    auto KF0 = problem->emplaceFrame(0.0);
+    problem->keyFrameCallback(KF0,nullptr);
+    problem->print(4, 0, 1, 0);
+
+    // Vector6d data(0,0,9.806, 0,0,0); // gravity on Z
+    // Vector6d data(0.0, 9.806, 0.0,  0.0, 0.0, 0.0); // gravity on Y
+    Vector6d data;
+    data <<  0.0, 9.806, 0.0,  0.0, 0.0, 0.0  ; // gravity on Y
+
+    capture_imu = std::make_shared<CaptureImu>(0.0, sensor_imu, data, Matrix6d::Identity());
+
+    for (t = 0; t < 0.14; t += dt)
+    {
+        capture_imu->setTimeStamp(t);
+        capture_imu->process();
+    }
+
+    problem->print(4, 0, 1, 1);
+
+    Quaterniond qref(AngleAxisd(M_PI / 2, Vector3d::UnitX()));  // turn of +90deg over X
+    for (auto pair_ts_frame : problem->getTrajectory()->getFrameMap())
+    {
+        ASSERT_MATRIX_APPROX(pair_ts_frame.second->getStateVector("P"), Vector3d::Zero(), 1e-10);
+        ASSERT_MATRIX_APPROX(pair_ts_frame.second->getStateVector("O"), qref.coeffs(), 1e-10);
+        ASSERT_MATRIX_APPROX(pair_ts_frame.second->getStateVector("V"), Vector3d::Zero(), 1e-10);
+    }
+}
+
+
+
 TEST_F(Process_Factor_Imu_ODO, MotionConstantRotation_PQV_b__PQV_b) // F_ixed___e_stimated
 {
 
@@ -1538,40 +1574,6 @@ TEST_F(Process_Factor_Imu_ODO, RecoverTrajectory_MotionRandom_PqV_b__pqV_b) // F
 
 }
 
-TEST_F(Process_Factor_Imu, bootstrap)
-{
-    processor_imu->setVotingActive(true);
-    processor_imu->setMaxTimeSpan(0.04);
-    processor_imu->bootstrapEnable(true);
-
-    auto KF0 = problem->emplaceFrame(0.0);
-    problem->keyFrameCallback(KF0,nullptr);
-    problem->print(4, 0, 1, 0);
-
-    // Vector6d data(0,0,9.806, 0,0,0); // gravity on Z
-    // Vector6d data(0.0, 9.806, 0.0,  0.0, 0.0, 0.0); // gravity on Y
-    Vector6d data;
-    data <<  0.0, 9.806, 0.0,  0.0, 0.0, 0.0  ; // gravity on Y
-
-    capture_imu = std::make_shared<CaptureImu>(0.0, sensor_imu, data, Matrix6d::Identity());
-
-    for (t = 0; t < 0.14; t += dt)
-    {
-        capture_imu->setTimeStamp(t);
-        capture_imu->process();
-    }
-
-    problem->print(4, 0, 1, 1);
-
-    Quaterniond qref(AngleAxisd(M_PI / 2, Vector3d::UnitX()));  // turn of +90deg over X
-    for (auto pair_ts_frame : problem->getTrajectory()->getFrameMap())
-    {
-        ASSERT_MATRIX_APPROX(pair_ts_frame.second->getStateVector("P"), Vector3d::Zero(), 1e-10);
-        ASSERT_MATRIX_APPROX(pair_ts_frame.second->getStateVector("O"), qref.coeffs(), 1e-10);
-        ASSERT_MATRIX_APPROX(pair_ts_frame.second->getStateVector("V"), Vector3d::Zero(), 1e-10);
-    }
-}
-
 int main(int argc, char **argv)
 {
     testing::InitGoogleTest(&argc, argv);