From 9d2017876080e7239065e6ea96d87861840de6ec Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Joan=20Sol=C3=A0?= <jsola@iri.upc.edu>
Date: Mon, 20 Jun 2022 09:47:15 +0200
Subject: [PATCH] Use explicit delta from buffer

---
 src/processor/processor_imu.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/processor/processor_imu.cpp b/src/processor/processor_imu.cpp
index fea5b04d6..45ad46687 100644
--- a/src/processor/processor_imu.cpp
+++ b/src/processor/processor_imu.cpp
@@ -343,7 +343,7 @@ VectorXd ProcessorImu::bootstrapDelta() const
     }
     // now compose with delta in last_ptr_
     dt                = last_ptr_->getBuffer().back().ts_ - origin_ptr_->getTimeStamp();
-    const auto& delta = last_ptr_->getDeltaPreint();
+    const auto& delta = last_ptr_->getBuffer().back().delta_integr_;
     delta_int         = imu::compose(delta_int, delta, dt);
 
     return delta_int;
-- 
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