diff --git a/src/drivers/drv_accel.h b/src/drivers/drv_accel.h
index 738b28a6e1..845050edf5 100644
--- a/src/drivers/drv_accel.h
+++ b/src/drivers/drv_accel.h
@@ -57,10 +57,14 @@
  */
 struct accel_report {
 	uint64_t timestamp;
+	uint64_t integral_dt;	/**< integration time */
 	uint64_t error_count;
 	float x;		/**< acceleration in the NED X board axis in m/s^2 */
 	float y;		/**< acceleration in the NED Y board axis in m/s^2 */
 	float z;		/**< acceleration in the NED Z board axis in m/s^2 */
+	float x_integral;	/**< velocity in the NED X board axis in m/s over the integration time frame */
+	float y_integral;	/**< velocity in the NED Y board axis in m/s over the integration time frame */
+	float z_integral;	/**< velocity in the NED Z board axis in m/s over the integration time frame */
 	float temperature;	/**< temperature in degrees celsius */
 	float range_m_s2;	/**< range in m/s^2 (+- this value) */
 	float scaling;
diff --git a/src/drivers/drv_gyro.h b/src/drivers/drv_gyro.h
index 8e80413ac9..60426caf90 100644
--- a/src/drivers/drv_gyro.h
+++ b/src/drivers/drv_gyro.h
@@ -57,10 +57,14 @@
  */
 struct gyro_report {
 	uint64_t timestamp;
+	uint64_t integral_dt;	/**< integration time */
 	uint64_t error_count;
 	float x;		/**< angular velocity in the NED X board axis in rad/s */
 	float y;		/**< angular velocity in the NED Y board axis in rad/s */
 	float z;		/**< angular velocity in the NED Z board axis in rad/s */
+	float x_integral;	/**< delta angle in the NED X board axis in rad/s in the integration time frame */
+	float y_integral;	/**< delta angle in the NED Y board axis in rad/s in the integration time frame */
+	float z_integral;	/**< delta angle in the NED Z board axis in rad/s in the integration time frame */
 	float temperature;	/**< temperature in degrees celcius */
 	float range_rad_s;
 	float scaling;