diff --git a/include/IMU/math/IMU_tools_Lie.h b/include/IMU/math/IMU_tools_Lie.h
index f536c72534c3ddb8239580a48ded2008d35b2bef..7ef24375788156e13611f6ba29ab0e321dae9f06 100644
--- a/include/IMU/math/IMU_tools_Lie.h
+++ b/include/IMU/math/IMU_tools_Lie.h
@@ -191,11 +191,12 @@ inline void adjoint(const MatrixBase<D1>& d, MatrixBase<D2>& adjd)
 
     // Adjoint matrix associated to the adjoint operator
     Matrix<typename D1::Scalar, 3, 1> dp ( & d( 0 ) );
-    Matrix<typename D1::Scalar, 3, 3> dR ( & d( 3 ) );
+    Quaternion<typename D1::Scalar> dq ( &d(3) );
+    Matrix<typename D1::Scalar, 3, 3> dR  = q2R(dq);
     Matrix<typename D1::Scalar, 3, 1> dv ( & d( 7 ) );
     const typename D1::Scalar& dt = d(10);
     
-    // pqvt impl -> problem with gtest
+    // pqvt impl
     adjd.setIdentity();
     adjd.block(0,0,3,3) = dR;
     adjd.block(0,3,3,3) = skew(dp - dv * dt) * dR;
@@ -496,7 +497,7 @@ Matrix<typename Derived::Scalar, 10, 1> log_IMU(const MatrixBase<Derived>& delta
     dv_ret = Qinv*dv_in;
     dt_ret = dt_in;
 
-    std::cout << "Log ret" << ret.transpose() << std::endl;
+//    std::cout << "Log ret" << ret.transpose() << std::endl;
     return ret;
 }
 
diff --git a/test/gtest_IMU_tools_Lie.cpp b/test/gtest_IMU_tools_Lie.cpp
index 9443d6d7d370b1f7f224274cac73f4f8988aacad..2b6fa4653f54d107ec01e755f3cadbb20201de2b 100644
--- a/test/gtest_IMU_tools_Lie.cpp
+++ b/test/gtest_IMU_tools_Lie.cpp
@@ -166,7 +166,7 @@ TEST(IMU_tools, plus_minus)
     ASSERT_MATRIX_APPROX(delta2_eq, delta2, 1e-10);
 }
 
-TEST(IMU_tools, adjazdzadazoint)
+TEST(IMU_tools, adjoint)
 {
     VectorXs delta1(11), delta2(11);
     Vector4s qv1 = (Vector4s() << 3, 4, 5, 6).finished().normalized();
@@ -174,8 +174,8 @@ TEST(IMU_tools, adjazdzadazoint)
     delta1 << 0, 1, 2, qv1, 7, 8, 9, 0.1;
     delta2 << 10, 11, 12, qv2, 17, 18, 19, 0.3;
 
-    ASSERT_MATRIX_APPROX(adjoint(delta1).inverse(), adjoint(inverse(delta1)), 1e-6);
-    // ASSERT_MATRIX_APPROX(adjoint(compose(delta1, delta2)), adjoint(delta1)*adjoint(delta2), 1e-10);
+    ASSERT_MATRIX_APPROX(adjoint(delta1).inverse(), adjoint(inverse(delta1)), 1e-10);
+    ASSERT_MATRIX_APPROX(adjoint(compose(delta1, delta2)), adjoint(delta1)*adjoint(delta2), 1e-10);
 }