diff --git a/src/processor_IMU.cpp b/src/processor_IMU.cpp
index 1010aa8ba6500bbacebfdf41479b489809f42194..b826b6d191ec02f57d4068aee97458252602775c 100644
--- a/src/processor_IMU.cpp
+++ b/src/processor_IMU.cpp
@@ -9,7 +9,6 @@ ProcessorIMU::ProcessorIMU(const ProcessorParamsIMU& _params) :
         max_buff_length_(_params.max_buff_length ),
         dist_traveled_  (_params.dist_traveled   ),
         angle_turned_   (_params.angle_turned    ),
-        voting_active_  (_params.voting_active   )
 {
     // Set constant parts of Jacobians
     jacobian_delta_preint_.setIdentity(9,9);                                    // dDp'/dDp, dDv'/dDv, all zeros
diff --git a/src/processors/processor_diff_drive.cpp b/src/processors/processor_diff_drive.cpp
index 8031040ce0b184d9c300143897925141140e5e3a..b6d57d918fc0c01cafc646146fc401d63d48d0d3 100644
--- a/src/processors/processor_diff_drive.cpp
+++ b/src/processors/processor_diff_drive.cpp
@@ -13,7 +13,7 @@ namespace wolf
 {
 
 ProcessorDiffDrive::ProcessorDiffDrive(const ProcessorParamsDiffDrive &params) :
-  ProcessorMotion("DIFF DRIVE", 3, 3, 3, 2, 3, 0.15),
+  ProcessorMotion("DIFF DRIVE", 0.15, 3, 3, 3, 2, 3),
   unmeasured_perturbation_cov_(Matrix3s::Identity()*
                                params.unmeasured_perturbation_std_*
                                params.unmeasured_perturbation_std_),