diff --git a/include/core/frame/frame_base.h b/include/core/frame/frame_base.h
index 1b368bf02df6a89567d90455edba72cf02f54bf0..298202a24925b27f7fd2759aecf3adfd8add1394 100644
--- a/include/core/frame/frame_base.h
+++ b/include/core/frame/frame_base.h
@@ -14,8 +14,7 @@ class StateBlock;
 typedef enum
 {
     KEY = 1,          ///< key frame. It plays at optimizations (estimated).
-    // AUXILIARY = 1,    ///< auxiliary frame. It plays at optimizations (estimated).
-    NON_ESTIMATED = 0 ///< regular frame. It does not play at optimization.
+    REGULAR = 0 ///< regular frame. It does not play at optimization.
 } FrameType;
 }
 
@@ -85,8 +84,8 @@ class FrameBase : public NodeBase, public HasStateBlocks, public std::enable_sha
         bool isKey() const;
 
         // set type
-        void setNonEstimated();
         void setKey(ProblemPtr _prb);
+        void unsetKey();
 
         // Frame values ------------------------------------------------
     public:
@@ -182,7 +181,7 @@ std::shared_ptr<classType> FrameBase::emplaceKeyFrame(TrajectoryBasePtr _ptr, T&
 template<typename classType, typename... T>
 std::shared_ptr<classType> FrameBase::createNonKeyFrame(T&&... all)
 {
-    std::shared_ptr<classType> frm = std::make_shared<classType>(FrameType::NON_ESTIMATED, std::forward<T>(all)...);
+    std::shared_ptr<classType> frm = std::make_shared<classType>(FrameType::REGULAR, std::forward<T>(all)...);
     return frm;
 }
 
diff --git a/src/frame/frame_base.cpp b/src/frame/frame_base.cpp
index 20ab9331867cd18963b5bc85b0f42fa1c01b4a2f..dedc166703a231a514aeaded0a7e86ce200412f5 100644
--- a/src/frame/frame_base.cpp
+++ b/src/frame/frame_base.cpp
@@ -133,14 +133,14 @@ void FrameBase::setTimeStamp(const TimeStamp& _ts)
     time_stamp_ = _ts;
 }
 
-void FrameBase::setNonEstimated()
+void FrameBase::unsetKey()
 {
     // unregister if previously estimated
     if (isKey())
         for (const auto& sb : getStateBlockVec())
             getProblem()->notifyStateBlock(sb, REMOVE);
 
-    type_ = NON_ESTIMATED;
+    type_ = REGULAR;
 }
 
 void FrameBase::setKey(ProblemPtr _prb)
diff --git a/test/gtest_frame_base.cpp b/test/gtest_frame_base.cpp
index 7167566535827fa6281057903e6f11dafdf3810d..504ea3afe8ab6fddf77a7d3b48f6b4648b5941e9 100644
--- a/test/gtest_frame_base.cpp
+++ b/test/gtest_frame_base.cpp
@@ -22,7 +22,7 @@ using namespace wolf;
 
 TEST(FrameBase, GettersAndSetters)
 {
-    FrameBasePtr F = make_shared<FrameBase>(NON_ESTIMATED, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
+    FrameBasePtr F = make_shared<FrameBase>(REGULAR, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
 
     // getters
     ASSERT_EQ(F->id(), (unsigned int) 1);
@@ -37,7 +37,7 @@ TEST(FrameBase, GettersAndSetters)
 
 TEST(FrameBase, StateBlocks)
 {
-    FrameBasePtr F = make_shared<FrameBase>(NON_ESTIMATED, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
+    FrameBasePtr F = make_shared<FrameBase>(REGULAR, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
 
     ASSERT_EQ(F->getStateBlockMap().size(),(unsigned int) 2);
     ASSERT_EQ(F->getP()->getState().size(),(unsigned int) 2);
@@ -47,7 +47,7 @@ TEST(FrameBase, StateBlocks)
 
 TEST(FrameBase, LinksBasic)
 {
-    FrameBasePtr F = make_shared<FrameBase>(NON_ESTIMATED, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
+    FrameBasePtr F = make_shared<FrameBase>(REGULAR, 1, make_shared<StateBlock>(2), make_shared<StateBlock>(1));
 
     ASSERT_FALSE(F->getTrajectory());
     ASSERT_FALSE(F->getProblem());
@@ -128,7 +128,7 @@ TEST(FrameBase, GetSetState)
     StateQuaternionPtr sbq = make_shared<StateQuaternion>();
 
     // Create frame
-    FrameBase F(NON_ESTIMATED, 1, sbp, sbq, sbv);
+    FrameBase F(REGULAR, 1, sbp, sbq, sbv);
 
     // Give values to vectors and vector blocks
     VectorXd x(10), x1(10), x2(10);
diff --git a/test/gtest_has_state_blocks.cpp b/test/gtest_has_state_blocks.cpp
index 646dd602e619b0c2d2fadd70eb6c6f94e7f79a5f..c19d99aa697ef7ad96994d2385a07433f8a7d47c 100644
--- a/test/gtest_has_state_blocks.cpp
+++ b/test/gtest_has_state_blocks.cpp
@@ -41,8 +41,8 @@ class HasStateBlocksTest : public testing::Test
             sbo1 = std::make_shared<StateQuaternion>();
             sbv1 = std::make_shared<StateBlock>(3); // size 3
 
-            F0 = std::make_shared<FrameBase>(NON_ESTIMATED, 0.0, sbp0, sbo0); // non KF
-            F1 = std::make_shared<FrameBase>(NON_ESTIMATED, 1.0, nullptr);    // non KF
+            F0 = std::make_shared<FrameBase>(REGULAR, 0.0, sbp0, sbo0); // non KF
+            F1 = std::make_shared<FrameBase>(REGULAR, 1.0, nullptr);    // non KF
 
         }
         void TearDown() override{}
diff --git a/test/gtest_pack_KF_buffer.cpp b/test/gtest_pack_KF_buffer.cpp
index 056fbcf0bb231962e109ea60f404a5a0cefd58f5..351edf4c950f154ddc2550965980c0650e2fe40e 100644
--- a/test/gtest_pack_KF_buffer.cpp
+++ b/test/gtest_pack_KF_buffer.cpp
@@ -34,10 +34,10 @@ class BufferPackKeyFrameTest : public testing::Test
 
         void SetUp(void) override
         {
-            f10 = std::make_shared<FrameBase>(NON_ESTIMATED, TimeStamp(10),nullptr,nullptr,nullptr);
-            f20 = std::make_shared<FrameBase>(NON_ESTIMATED, TimeStamp(20),nullptr,nullptr,nullptr);
-            f21 = std::make_shared<FrameBase>(NON_ESTIMATED, TimeStamp(21),nullptr,nullptr,nullptr);
-            f28 = std::make_shared<FrameBase>(NON_ESTIMATED, TimeStamp(28),nullptr,nullptr,nullptr);
+            f10 = std::make_shared<FrameBase>(REGULAR, TimeStamp(10),nullptr,nullptr,nullptr);
+            f20 = std::make_shared<FrameBase>(REGULAR, TimeStamp(20),nullptr,nullptr,nullptr);
+            f21 = std::make_shared<FrameBase>(REGULAR, TimeStamp(21),nullptr,nullptr,nullptr);
+            f28 = std::make_shared<FrameBase>(REGULAR, TimeStamp(28),nullptr,nullptr,nullptr);
 
             tt10 = 1.0;
             tt20 = 1.0;
@@ -230,7 +230,7 @@ TEST_F(BufferPackKeyFrameTest, removeUpTo)
     // Specifically, only f28 should remain
     pack_kf_buffer.add(f28, tt28);
     ASSERT_EQ(pack_kf_buffer.size(), (unsigned int) 2);
-    FrameBasePtr f22 = std::make_shared<FrameBase>(NON_ESTIMATED, TimeStamp(22),nullptr,nullptr,nullptr);
+    FrameBasePtr f22 = std::make_shared<FrameBase>(REGULAR, TimeStamp(22),nullptr,nullptr,nullptr);
     PackKeyFramePtr pack22 = std::make_shared<PackKeyFrame>(f22,5);
     pack_kf_buffer.removeUpTo( pack22->key_frame->getTimeStamp() );
     ASSERT_EQ(pack_kf_buffer.size(), (unsigned int) 1);