diff --git a/demos/processor_imu.yaml b/demos/processor_imu.yaml
index e1b0c2e86eb5212679e7c75db2ba2f25fc039348..0e9c8d10e6ee5238e4cbcbe974f061ff426cb329 100644
--- a/demos/processor_imu.yaml
+++ b/demos/processor_imu.yaml
@@ -9,3 +9,8 @@ keyframe_vote:
     max_buff_length:  20000    # motion deltas
     dist_traveled:      2.0   # meters
     angle_turned:       0.2   # radians (1 rad approx 57 deg, approx 60 deg)
+
+bootstrap:
+    enable: true 
+    method: "G"
+    averaging_length: 10
\ No newline at end of file
diff --git a/test/yaml/imu_static_init.yaml b/test/yaml/imu_static_init.yaml
index 46393f30b8f24bf645bfb1272764e6c8915e5dc2..99da4ac074de4d9712d926d12db2cb946254f9a9 100644
--- a/test/yaml/imu_static_init.yaml
+++ b/test/yaml/imu_static_init.yaml
@@ -10,3 +10,8 @@ keyframe_vote:
     max_buff_length:    1000000000   # motion deltas
     dist_traveled:      100000000000   # meters
     angle_turned:       10000000000   # radians (1 rad approx 57 deg, approx 60 deg)
+
+bootstrap:
+    enable: true 
+    method: "G"
+    averaging_length: 10
\ No newline at end of file