diff --git a/test/gtest_imu_static_init.cpp b/test/gtest_imu_static_init.cpp
index 32566857f6f38058ac09d70c1d6e4b353fcfe090..7145d9b23c3478e0ee085f2c9db29c2e3a1bc172 100644
--- a/test/gtest_imu_static_init.cpp
+++ b/test/gtest_imu_static_init.cpp
@@ -25,9 +25,10 @@ class ProcessorImuStaticInitTest : public testing::Test
         bool second_frame;
         Vector6d data;
         Matrix6d data_cov;
-        VectorComposite     x0c;                                // initial state composite
+        //VectorComposite     x0c;                                // initial state composite
         VectorComposite     s0c;                                // initial sigmas composite
         std::shared_ptr<wolf::CaptureImu> C;
+        FrameBasePtr KF0;
         FrameBasePtr _first_frame;
         FrameBasePtr _last_frame;
         SolverCeresPtr _solver;
@@ -65,6 +66,13 @@ class ProcessorImuStaticInitTest : public testing::Test
 
         // Create the solver
         _solver = make_shared<SolverCeres>(_problem_ptr);
+        
+        // Set the origin
+        VectorComposite x0c("POV", {Vector3d::Zero(), (Vector4d() << 0,0,0,1).finished(), Vector3d::Zero()});
+        WOLF_INFO("x0c is: \n", x0c);
+        KF0 = _problem_ptr->setPriorFix(x0c, t0, dt/2);
+        KF0->fix();
+        _processor_motion->setOrigin(KF0);
     }
 
 };
@@ -73,10 +81,6 @@ class ProcessorImuStaticInitTest : public testing::Test
 TEST_F(ProcessorImuStaticInitTest, static)
 {
    WOLF_INFO("Starting Test");
-   // Set the origin
-   x0c['P'] = Vector3d(0, 0, 0);
-   x0c['O'] = Vector4d(0, 0, 0, 1);
-   x0c['V'] = Vector3d(0, 0, 0);
 
    data_cov *= 1e-3;
    data << 1, 2, 3, 4, 5, 6;
@@ -86,9 +90,6 @@ TEST_F(ProcessorImuStaticInitTest, static)
 
    
    //dt = 0.0001;
-   auto KF0 = _problem_ptr->setPriorFix(x0c, t0, dt/2);
-   KF0->fix();
-   _processor_motion->setOrigin(KF0);
 
    WOLF_INFO("Data is: \n", data);
    int size = 7;