diff --git a/tests/testGaussianISAM.cpp b/tests/testGaussianISAM.cpp
index c1b5f4ffa..81c68c106 100644
--- a/tests/testGaussianISAM.cpp
+++ b/tests/testGaussianISAM.cpp
@@ -53,18 +53,16 @@ TEST( ISAM, iSAM_smoother )
   }
 
   // Create expected Bayes Tree by solving smoother with "natural" ordering
-  GaussianBayesTree bayesTree = *smoother.eliminateMultifrontal(ordering);
-  GaussianISAM expected;
-  expected.insertRoot(bayesTree.roots().front());
+  GaussianBayesTree expected = *smoother.eliminateMultifrontal(ordering);
 
   // Verify sigmas in the bayes tree
-  BOOST_FOREACH(const GaussianBayesTree::sharedClique& clique, bayesTree.nodes() | br::map_values) {
+  BOOST_FOREACH(const GaussianBayesTree::sharedClique& clique, expected.nodes() | br::map_values) {
     GaussianConditional::shared_ptr conditional = clique->conditional();
     EXPECT(!conditional->get_model());
   }
 
   // Check whether BayesTree is correct
-  EXPECT(assert_equal(expected, actual));
+  EXPECT(assert_equal(GaussianFactorGraph(expected).augmentedHessian(), GaussianFactorGraph(actual).augmentedHessian()));
 
   // obtain solution
   VectorValues e; // expected solution
diff --git a/tests/testGaussianISAM2.cpp b/tests/testGaussianISAM2.cpp
index 30f8d08bf..c0014e765 100644
--- a/tests/testGaussianISAM2.cpp
+++ b/tests/testGaussianISAM2.cpp
@@ -93,6 +93,9 @@ ISAM2 createSlamlikeISAM2(
       goto done;
   }
 
+  if(i > maxPoses)
+    goto done;
+
   // Add odometry from time 5 to 6 and landmark measurement at time 5
   {
     NonlinearFactorGraph newfactors;
@@ -132,6 +135,9 @@ ISAM2 createSlamlikeISAM2(
       goto done;
   }
 
+  if(i > maxPoses)
+    goto done;
+
   // Add odometry from time 10 to 11 and landmark measurement at time 10
   {
     NonlinearFactorGraph newfactors;
@@ -229,9 +235,12 @@ bool isam_check(const NonlinearFactorGraph& fullgraph, const Values& fullinit, c
   bool isamEqual = assert_equal(expected, actual);
 
   // Check information
-  ISAM2 expectedisam(isam.params());
-  expectedisam.update(fullgraph, fullinit);
-  bool isamTreeEqual = assert_equal(GaussianFactorGraph(expectedisam).augmentedHessian(), GaussianFactorGraph(isam).augmentedHessian());
+  GaussianFactorGraph isamGraph(isam);
+  isamGraph += isam.roots().front()->cachedFactor_;
+  Matrix expectedHessian = fullgraph.linearize(isam.getLinearizationPoint())->augmentedHessian();
+  Matrix actualHessian = isamGraph.augmentedHessian();
+  expectedHessian.bottomRightCorner(1,1) = actualHessian.bottomRightCorner(1,1);
+  bool isamTreeEqual = assert_equal(expectedHessian, actualHessian);
 
   // Check consistency
   ConsistencyVisitor visitor(isam);
@@ -284,10 +293,10 @@ TEST(ISAM2, simple)
     // These variables will be reused and accumulate factors and values
     Values fullinit;
     NonlinearFactorGraph fullgraph;
-    ISAM2 isam = createSlamlikeISAM2(fullinit, fullgraph, ISAM2Params(ISAM2GaussNewtonParams(0.0), 0.0, 0, false), i);
+    ISAM2 isam = createSlamlikeISAM2(fullinit, fullgraph, ISAM2Params(ISAM2GaussNewtonParams(0.001), 0.0, 0, false), i);
 
     // Compare solutions
-    CHECK(isam_check(fullgraph, fullinit, isam, *this, result_));
+    EXPECT(isam_check(fullgraph, fullinit, isam, *this, result_));
   }
 }
 
@@ -647,13 +656,13 @@ namespace {
     // Check full marginalization
     //cout << "treeEqual" << endl;
     bool treeEqual = assert_equal(expectedAugmentedHessian, actualAugmentedHessian, 1e-6);
-    bool linEqual = assert_equal(expected2AugmentedHessian, actualAugmentedHessian, 1e-6);
+    actualAugmentedHessian.bottomRightCorner(1,1) = expected2AugmentedHessian.bottomRightCorner(1,1); bool linEqual = assert_equal(expected2AugmentedHessian, actualAugmentedHessian, 1e-6);
     //cout << "nonlinEqual" << endl;
     bool nonlinEqual = assert_equal(expected3AugmentedHessian, actualAugmentedHessian, 1e-6);
     //bool linCorrect = assert_equal(expected3AugmentedHessian, expected2AugmentedHessian, 1e-6);
     //actual2AugmentedHessian.bottomRightCorner(1,1) = expected3AugmentedHessian.bottomRightCorner(1,1); bool afterLinCorrect = assert_equal(expected3AugmentedHessian, actual2AugmentedHessian, 1e-6);
     //cout << "nonlinCorrect" << endl;
-    actual3AugmentedHessian.bottomRightCorner(1,1) = expected3AugmentedHessian.bottomRightCorner(1,1); bool afterNonlinCorrect = assert_equal(expected3AugmentedHessian, actual3AugmentedHessian, 1e-6);
+    bool afterNonlinCorrect = assert_equal(expected3AugmentedHessian, actual3AugmentedHessian, 1e-6);
 
     bool ok = treeEqual && linEqual && nonlinEqual && /*linCorrect &&*/ /*afterLinCorrect &&*/ afterNonlinCorrect;
     return ok;