diff --git a/include/imu/processor/processor_imu.h b/include/imu/processor/processor_imu.h
index 5982b720ecd93a3a20dc940d2b632028104d6a8f..ca0d888533559d63b4a28c1a8d2a67ff96995978 100644
--- a/include/imu/processor/processor_imu.h
+++ b/include/imu/processor/processor_imu.h
@@ -48,12 +48,24 @@ struct ParamsProcessorImu : public ParamsProcessorMotion
         bootstrap_enable = _server.getParam<bool>(prefix + _unique_name + "/bootstrap_enable");
         if (bootstrap_enable)
         {
-            bootstrap_averaging_length = _server.getParam<int>(prefix + _unique_name + "/bootstrap_averaging_length");
-            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;
-            if (str == "G" /*     */) bootstrap_method = BOOTSTRAP_G;
-            if (str == "V0_G" /*  */) bootstrap_method = BOOTSTRAP_V0_G;
+            if (str == "STATIC" /**/)
+            {
+                bootstrap_method = BOOTSTRAP_STATIC;
+                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");
+            }
+            if (str == "V0_G" /*  */)
+            {
+                bootstrap_method = BOOTSTRAP_V0_G;
+            }
         }
     }
     std::string print() const override