diff --git a/demos/hello_wolf/yaml/processor_odom_2d.yaml b/demos/hello_wolf/yaml/processor_odom_2d.yaml
index 328e7783982f12fe4991fbee9270af3878d1ff30..04d0ff166981259edc9ca51dc3e39260fd427a62 100644
--- a/demos/hello_wolf/yaml/processor_odom_2d.yaml
+++ b/demos/hello_wolf/yaml/processor_odom_2d.yaml
@@ -4,7 +4,6 @@ time_tolerance:       0.1
 unmeasured_perturbation_std: 0.001
 keyframe_vote:
   voting_active:      true
-  voting_aux_active:  false
   max_time_span:      999
   dist_traveled:      0.95
   angle_turned:       999
diff --git a/demos/hello_wolf/yaml/processor_range_bearing.yaml b/demos/hello_wolf/yaml/processor_range_bearing.yaml
index 49a55d90dbb31b7fb18023eba9e71f7c1c03f633..c5a5608a42d47e02cfe1504aec59b99fea7e56c7 100644
--- a/demos/hello_wolf/yaml/processor_range_bearing.yaml
+++ b/demos/hello_wolf/yaml/processor_range_bearing.yaml
@@ -4,6 +4,5 @@ time_tolerance:       0.1
 
 keyframe_vote:
   voting_active:      true
-  voting_aux_active:  false
 
 apply_loss_function: true
diff --git a/demos/processor_odom_3d.yaml b/demos/processor_odom_3d.yaml
index 2526e5dde7b256431a3f2fa5735b398a51faadb7..db3a961a1c3619ff44daab6b963d576a8595e880 100644
--- a/demos/processor_odom_3d.yaml
+++ b/demos/processor_odom_3d.yaml
@@ -5,7 +5,6 @@ unmeasured_perturbation_std: 0.001
 
 keyframe_vote:
   voting_active:          false
-  voting_aux_active:      false
   max_time_span:          0.2   # seconds
   max_buff_length:        10    # motion deltas
   dist_traveled:          0.5   # meters
diff --git a/test/yaml/params_problem_odom_3d.yaml b/test/yaml/params_problem_odom_3d.yaml
index 0337cdc0bbc589d0d03054107643e632bb6be7b4..7e0b0ccb110c0545ff24a9726c035124f0d1686a 100644
--- a/test/yaml/params_problem_odom_3d.yaml
+++ b/test/yaml/params_problem_odom_3d.yaml
@@ -35,7 +35,6 @@ config:
       time_tolerance:         0.01  # seconds
       keyframe_vote:
         voting_active:        true
-        voting_aux_active:    false
         max_time_span:          1.95  # seconds
         max_buff_length:        999   # motion deltas
         dist_traveled:          999   # meters
diff --git a/test/yaml/params_tree_manager1.yaml b/test/yaml/params_tree_manager1.yaml
index d8f443220bf71786c1e95ca77ae9e68705d1d576..6a69b63a6918e13b0f492c7b51ef6dfe3c97ba94 100644
--- a/test/yaml/params_tree_manager1.yaml
+++ b/test/yaml/params_tree_manager1.yaml
@@ -40,7 +40,6 @@ config:
       time_tolerance:         0.01  # seconds
       keyframe_vote:
         voting_active:        false
-        voting_aux_active:    false
         max_time_span:          0.2   # seconds
         max_buff_length:        10    # motion deltas
         dist_traveled:          0.5   # meters
diff --git a/test/yaml/params_tree_manager2.yaml b/test/yaml/params_tree_manager2.yaml
index b61f9936d4ccb8fc705d2ca92717f2a2ad67c402..879421e7915581f52355d1874ebb78f302b768df 100644
--- a/test/yaml/params_tree_manager2.yaml
+++ b/test/yaml/params_tree_manager2.yaml
@@ -39,7 +39,6 @@ config:
       time_tolerance:         0.01  # seconds
       keyframe_vote:
         voting_active:        false
-        voting_aux_active:    false
         max_time_span:          0.2   # seconds
         max_buff_length:        10    # motion deltas
         dist_traveled:          0.5   # meters
diff --git a/test/yaml/params_tree_manager_sliding_window1.yaml b/test/yaml/params_tree_manager_sliding_window1.yaml
index 22242febd640b616bebe4ab0410867b0e373a5be..b83698dd000ab1171d77c25d7e92aaeaa04fd9e1 100644
--- a/test/yaml/params_tree_manager_sliding_window1.yaml
+++ b/test/yaml/params_tree_manager_sliding_window1.yaml
@@ -38,7 +38,6 @@ config:
       time_tolerance:         0.01  # seconds
       keyframe_vote:
         voting_active:        false
-        voting_aux_active:    false
         max_time_span:          0.2   # seconds
         max_buff_length:        10    # motion deltas
         dist_traveled:          0.5   # meters
diff --git a/test/yaml/params_tree_manager_sliding_window2.yaml b/test/yaml/params_tree_manager_sliding_window2.yaml
index add5eff760050fecbde63c827bb75e77c531f86e..0b9097d819dced956057db4d09b0096bc8752dd2 100644
--- a/test/yaml/params_tree_manager_sliding_window2.yaml
+++ b/test/yaml/params_tree_manager_sliding_window2.yaml
@@ -38,7 +38,6 @@ config:
       time_tolerance:         0.01  # seconds
       keyframe_vote:
         voting_active:        false
-        voting_aux_active:    false
         max_time_span:          0.2   # seconds
         max_buff_length:        10    # motion deltas
         dist_traveled:          0.5   # meters
diff --git a/test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml b/test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml
index b59022518aaf931890368185fb9b489611cda257..518d78ec1d6d1f4f929ef5c33b77729d860ecc9e 100644
--- a/test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml
+++ b/test/yaml/params_tree_manager_sliding_window_dual_rate3.yaml
@@ -46,7 +46,6 @@ config:
       time_tolerance:         0.01  # seconds
       keyframe_vote:
         voting_active:        true
-        voting_aux_active:    false
         max_time_span:          0.2   # seconds
         max_buff_length:        10    # motion deltas
         dist_traveled:          10   # meters
diff --git a/test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml b/test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml
index eba780939b0e4521ba7a5d571ed47d63749adc6e..494d27be3f0b9e3c68ef33919451a0f7e6ba065c 100644
--- a/test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml
+++ b/test/yaml/params_tree_manager_sliding_window_dual_rate_baseline.yaml
@@ -40,7 +40,6 @@ config:
       time_tolerance:         0.01  # seconds
       keyframe_vote:
         voting_active:        true
-        voting_aux_active:    false
         max_time_span:          0.2   # seconds
         max_buff_length:        10    # motion deltas
         dist_traveled:          10   # meters
diff --git a/test/yaml/processor_odom_3d.yaml b/test/yaml/processor_odom_3d.yaml
index 672421b5d074b7fd627bf955a879e3f10a3544e0..0fe5e5c6d360e239edf207dba1f88329341a0632 100644
--- a/test/yaml/processor_odom_3d.yaml
+++ b/test/yaml/processor_odom_3d.yaml
@@ -4,7 +4,6 @@ time_tolerance:         0.01  # seconds
 
 keyframe_vote:
   voting_active:        false
-  voting_aux_active:    false
   max_time_span:          0.2   # seconds
   max_buff_length:        10    # motion deltas
   dist_traveled:          0.5   # meters