diff --git a/include/imu/processor/processor_imu.h b/include/imu/processor/processor_imu.h
index ca0d888533559d63b4a28c1a8d2a67ff96995978..55d5a24d44c76e95b31a233d10fc2617094cce2f 100644
--- a/include/imu/processor/processor_imu.h
+++ b/include/imu/processor/processor_imu.h
@@ -45,22 +45,22 @@ struct ParamsProcessorImu : public ParamsProcessorMotion
     ParamsProcessorImu(std::string _unique_name, const ParamsServer& _server):
         ParamsProcessorMotion(_unique_name, _server)
     {
-        bootstrap_enable = _server.getParam<bool>(prefix + _unique_name + "/bootstrap_enable");
+        bootstrap_enable = _server.getParam<bool>(prefix + _unique_name + "/bootstrap/enable");
         if (bootstrap_enable)
         {
-            string str = _server.getParam<string>(prefix + _unique_name + "/bootstrap_method");
+            string str = _server.getParam<string>(prefix + _unique_name + "/bootstrap/method");
             std::transform(str.begin(), str.end(), str.begin(), ::toupper);
             if (str == "STATIC" /**/)
             {
                 bootstrap_method = BOOTSTRAP_STATIC;
                 bootstrap_averaging_length =
-                    _server.getParam<int>(prefix + _unique_name + "/bootstrap_averaging_length");
+                    _server.getParam<int>(prefix + _unique_name + "/bootstrap/averaging_length");
             }
             if (str == "G" /*     */)
             {
                 bootstrap_method = BOOTSTRAP_G;
                 bootstrap_averaging_length =
-                    _server.getParam<int>(prefix + _unique_name + "/bootstrap_averaging_length");
+                    _server.getParam<int>(prefix + _unique_name + "/bootstrap/averaging_length");
             }
             if (str == "V0_G" /*  */)
             {