diff --git a/test/gtest_factor_diff_drive.cpp b/test/gtest_factor_diff_drive.cpp
index b1e8f781fe2d50604e6b5a5f605f8b78ee1cd888..6a9e0ddb95cc05413d8c960912256bb0ff908b04 100644
--- a/test/gtest_factor_diff_drive.cpp
+++ b/test/gtest_factor_diff_drive.cpp
@@ -479,10 +479,9 @@ TEST(FactorDiffDrive, preintegrate_and_solve_sensor_intrinsics_gt)
     auto F2 = problem->getLastKeyFrame();
 
 
-    // Fix boundaries and unfix S ;
+    // Fix boundaries
     F0->fix();
     F2->fix();
-    sensor->unfixIntrinsics();
 
     // Perturb S
     Vector3s calib_pert = calib_gt + Vector3s::Random()*0.2;
@@ -615,10 +614,9 @@ TEST(FactorDiffDrive, preintegrate_and_solve_sensor_intrinsics)
 
     F2->setState(x2); // Impose known final state regardless of integrated value.
 
-    // Fix boundaries and unfix S ;
+    // Fix boundaries
     F0->fix();
     F2->fix();
-    sensor->unfixIntrinsics();
 
 
     WOLF_TRACE("\n  ========== SOLVE =========");