diff --git a/msg/sensor_gyro.msg b/msg/sensor_gyro.msg
index 4a252269e8..65aa4a8706 100644
--- a/msg/sensor_gyro.msg
+++ b/msg/sensor_gyro.msg
@@ -1,8 +1,12 @@
 uint64 timestamp
+uint64 integral_dt	# integration time
 uint64 error_count
 float32 x		# angular velocity in the NED X board axis in rad/s
 float32 y		# angular velocity in the NED Y board axis in rad/s
 float32 z		# angular velocity in the NED Z board axis in rad/s
+float32 x_integral	# delta angle in the NED X board axis in rad/s in the integration time frame
+float32 y_integral	# delta angle in the NED Y board axis in rad/s in the integration time frame
+float32 z_integral	# delta angle in the NED Z board axis in rad/s in the integration time frame
 float32 temperature	# temperature in degrees celcius
 float32 range_rad_s
 float32 scaling