diff --git a/src/drivers/device/integrator.cpp b/src/drivers/device/integrator.cpp
index 3437cbebff..60f3af5bb4 100644
--- a/src/drivers/device/integrator.cpp
+++ b/src/drivers/device/integrator.cpp
@@ -111,6 +111,26 @@ Integrator::put(uint64_t timestamp, math::Vector<3> &val, math::Vector<3> &integ
 	}
 }
 
+bool
+Integrator::put_with_interval(unsigned interval_us, math::Vector<3> &val, math::Vector<3> &integral,
+			      uint64_t &integral_dt)
+{
+	if (_last_integration_time == 0) {
+		/* this is the first item in the integrator */
+		uint64_t now = hrt_absolute_time();
+		_last_integration_time = now;
+		_last_reset_time = now;
+		_last_val = val;
+
+		return false;
+	}
+
+	// Create the timestamp artifically.
+	uint64_t timestamp = _last_integration_time + interval_us;
+
+	return put(timestamp, val, integral, integral_dt);
+}
+
 math::Vector<3>
 Integrator::get(bool reset, uint64_t &integral_dt)
 {
diff --git a/src/drivers/device/integrator.h b/src/drivers/device/integrator.h
index 4d5cb47ebc..11aca58e80 100644
--- a/src/drivers/device/integrator.h
+++ b/src/drivers/device/integrator.h
@@ -60,7 +60,22 @@ public:
 	 * @return		true if putting the item triggered an integral reset and the integral should be
 	 *			published.
 	 */
-	bool			put(uint64_t timestamp, math::Vector<3> &val, math::Vector<3> &integral, uint64_t &integral_dt);
+	bool put(uint64_t timestamp, math::Vector<3> &val, math::Vector<3> &integral, uint64_t &integral_dt);
+
+	/**
+	 * Put an item into the integral but provide an interval instead of a timestamp.
+	 *
+	 * @param interval_us	Interval in us since last integration.
+	 * @param val		Item to put.
+	 * @param integral	Current integral in case the integrator did reset, else the value will not be modified
+	 * @param integral_dt	Get the dt in us of the current integration (only if reset). Note that this
+	 *			values might not be accurate vs. hrt_absolute_time because it is just the sum of the
+	 *			supplied intervals.
+	 * @return		true if putting the item triggered an integral reset and the integral should be
+	 *			published.
+	 */
+	bool put_with_interval(unsigned interval_us, math::Vector<3> &val, math::Vector<3> &integral,
+			       uint64_t &integral_dt);
 
 	/**
 	 * Get the current integral and reset the integrator if needed.