diff --git a/demos/processor_imu.yaml b/demos/processor_imu.yaml
index 813c6023e91b1d0198412b150ec1512c6a451b64..1afbb00a6ab5112cbad1555098985ae1f0687f8b 100644
--- a/demos/processor_imu.yaml
+++ b/demos/processor_imu.yaml
@@ -11,6 +11,6 @@ keyframe_vote:
     angle_turned:       0.2   # radians (1 rad approx 57 deg, approx 60 deg)
 
 bootstrap:
-    enable: true 
+    enable: false 
     method: "G"
     averaging_length: 0.10 # seconds
\ No newline at end of file
diff --git a/demos/processor_imu_bootstrap.yaml b/demos/processor_imu_bootstrap.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..813c6023e91b1d0198412b150ec1512c6a451b64
--- /dev/null
+++ b/demos/processor_imu_bootstrap.yaml
@@ -0,0 +1,16 @@
+type: "ProcessorImu"              # This must match the KEY used in the SensorFactory. Otherwise it is an error.
+
+time_tolerance: 0.0025         # Time tolerance for joining KFs
+unmeasured_perturbation_std: 0.00001
+
+keyframe_vote:
+    voting_active:      false
+    max_time_span:      2.0   # seconds
+    max_buff_length:  20000    # motion deltas
+    dist_traveled:      2.0   # meters
+    angle_turned:       0.2   # radians (1 rad approx 57 deg, approx 60 deg)
+
+bootstrap:
+    enable: true 
+    method: "G"
+    averaging_length: 0.10 # seconds
\ No newline at end of file
diff --git a/test/yaml/imu_static_init.yaml b/test/yaml/imu_static_init.yaml
index 99da4ac074de4d9712d926d12db2cb946254f9a9..cc07835915541bd4243b33370f3cf45c496cda32 100644
--- a/test/yaml/imu_static_init.yaml
+++ b/test/yaml/imu_static_init.yaml
@@ -12,6 +12,6 @@ keyframe_vote:
     angle_turned:       10000000000   # radians (1 rad approx 57 deg, approx 60 deg)
 
 bootstrap:
-    enable: true 
+    enable: false 
     method: "G"
     averaging_length: 10
\ No newline at end of file