diff --git a/yaml/processor_imu.yaml b/yaml/processor_imu.yaml
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index 0000000000000000000000000000000000000000..a9beb5b99c808298629641cbdae1d0a11f7553c8
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+time_tolerance: 0.0025         # Time tolerance for joining KFs (half of 5ms or 200Hz)
+unmeasured_perturbation_std: 0.000001
+keyframe_vote:
+    voting_active:      false
+    max_time_span:      1.0   # seconds
+    max_buff_length:    500   # motion deltas
+    dist_traveled:      2.0   # meters
+    angle_turned:       0.1   # radians (1 rad approx 57 deg, approx 60 deg)