diff --git a/gtsam/navigation/CombinedImuFactor.cpp b/gtsam/navigation/CombinedImuFactor.cpp
index c1ec7f361..620305d77 100644
--- a/gtsam/navigation/CombinedImuFactor.cpp
+++ b/gtsam/navigation/CombinedImuFactor.cpp
@@ -277,19 +277,13 @@ CombinedImuFactor::CombinedImuFactor(
 void CombinedImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i,
                                 Pose3& pose_j, Vector3& vel_j,
                                 const imuBias::ConstantBias& bias_i,
-                                const CombinedPreintegratedMeasurements& pim,
+                                CombinedPreintegratedMeasurements& pim,
                                 const Vector3& gravity,
                                 const Vector3& omegaCoriolis,
                                 const bool use2ndOrderCoriolis) {
-  // NOTE(frank): hack below only for backward compatibility
-  boost::shared_ptr<CombinedPreintegratedMeasurements::Params> p =
-      boost::make_shared<CombinedPreintegratedMeasurements::Params>(pim.p());
-  p->gravity = gravity;
-  p->omegaCoriolis = omegaCoriolis;
-  p->use2ndOrderCoriolis = use2ndOrderCoriolis;
-  CombinedPreintegratedMeasurements newPim = pim;
-  newPim.p_ = p;
-  PoseVelocityBias pvb = newPim.predict(pose_i, vel_i, bias_i);
+  // use deprecated predict
+  PoseVelocityBias pvb = pim.predict(pose_i, vel_i, bias_i, gravity,
+      omegaCoriolis, use2ndOrderCoriolis);
   pose_j = pvb.pose;
   vel_j = pvb.velocity;
 }
diff --git a/gtsam/navigation/CombinedImuFactor.h b/gtsam/navigation/CombinedImuFactor.h
index a70d1d24f..5641b4c3e 100644
--- a/gtsam/navigation/CombinedImuFactor.h
+++ b/gtsam/navigation/CombinedImuFactor.h
@@ -245,7 +245,7 @@ public:
   // @deprecated use PreintegrationBase::predict
   static void Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j,
                       Vector3& vel_j, const imuBias::ConstantBias& bias_i,
-                      const CombinedPreintegratedMeasurements& pim,
+                      CombinedPreintegratedMeasurements& pim,
                       const Vector3& gravity, const Vector3& omegaCoriolis,
                       const bool use2ndOrderCoriolis = false);
 
diff --git a/gtsam/navigation/ImuFactor.cpp b/gtsam/navigation/ImuFactor.cpp
index 024bdd65e..8f7e28385 100644
--- a/gtsam/navigation/ImuFactor.cpp
+++ b/gtsam/navigation/ImuFactor.cpp
@@ -195,18 +195,12 @@ ImuFactor::ImuFactor(Key pose_i, Key vel_i, Key pose_j, Key vel_j, Key bias,
 void ImuFactor::Predict(const Pose3& pose_i, const Vector3& vel_i,
                         Pose3& pose_j, Vector3& vel_j,
                         const imuBias::ConstantBias& bias_i,
-                        const PreintegratedMeasurements& pim,
+                        PreintegratedMeasurements& pim,
                         const Vector3& gravity, const Vector3& omegaCoriolis,
                         const bool use2ndOrderCoriolis) {
-  // NOTE(frank): hack below only for backward compatibility
-  boost::shared_ptr<PreintegratedMeasurements::Params> p =
-      boost::make_shared<PreintegratedMeasurements::Params>(pim.p());
-  p->gravity = gravity;
-  p->omegaCoriolis = omegaCoriolis;
-  p->use2ndOrderCoriolis = use2ndOrderCoriolis;
-  PreintegratedMeasurements newPim = pim;
-  newPim.p_ = p;
-  PoseVelocityBias pvb = newPim.predict(pose_i, vel_i, bias_i);
+  // use deprecated predict
+  PoseVelocityBias pvb = pim.predict(pose_i, vel_i, bias_i, gravity,
+      omegaCoriolis, use2ndOrderCoriolis);
   pose_j = pvb.pose;
   vel_j = pvb.velocity;
 }
diff --git a/gtsam/navigation/ImuFactor.h b/gtsam/navigation/ImuFactor.h
index eb94675fa..9cd1fcada 100644
--- a/gtsam/navigation/ImuFactor.h
+++ b/gtsam/navigation/ImuFactor.h
@@ -212,7 +212,7 @@ public:
   /// @deprecated use PreintegrationBase::predict
   static void Predict(const Pose3& pose_i, const Vector3& vel_i, Pose3& pose_j,
       Vector3& vel_j, const imuBias::ConstantBias& bias_i,
-      const PreintegratedMeasurements& pim, const Vector3& gravity,
+      PreintegratedMeasurements& pim, const Vector3& gravity,
       const Vector3& omegaCoriolis, const bool use2ndOrderCoriolis = false);
 
 private: