diff --git a/src/test/gtest_feature_imu.cpp b/src/test/gtest_feature_imu.cpp
index 63f9fe29983b2fafbf79c2609f76d3a7b54566d1..60288f18220da5269969911cae8c8e66e1eb6f10 100644
--- a/src/test/gtest_feature_imu.cpp
+++ b/src/test/gtest_feature_imu.cpp
@@ -85,9 +85,9 @@ class FeatureIMU_test : public testing::Test
     //create a feature
         delta_preint_cov = wolf_problem_ptr_->getProcessorMotionPtr()->getCurrentDeltaPreintCov();
         delta_preint = wolf_problem_ptr_->getProcessorMotionPtr()->getMotion().delta_integr_;
-        feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov);
+        //feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov);
         std::static_pointer_cast<wolf::ProcessorIMU>(wolf_problem_ptr_->getProcessorMotionPtr())->getJacobians(dD_db_jacobians);
-        //feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov, dD_db_jacobians);
+        feat_imu = std::make_shared<FeatureIMU>(delta_preint, delta_preint_cov, imu_ptr, dD_db_jacobians);
         feat_imu->setCapturePtr(imu_ptr); //associate the feature to a capture
 
     }