diff --git a/demos/processor_imu.yaml b/demos/processor_imu.yaml
index 0e9c8d10e6ee5238e4cbcbe974f061ff426cb329..d8400410e703ad62a606c04c6f2da04eea2bb54a 100644
--- a/demos/processor_imu.yaml
+++ b/demos/processor_imu.yaml
@@ -13,4 +13,4 @@ keyframe_vote:
 bootstrap:
     enable: true 
     method: "G"
-    averaging_length: 10
\ No newline at end of file
+    averaging_length: 0.25 # seconds
\ No newline at end of file
diff --git a/include/imu/processor/processor_imu.h b/include/imu/processor/processor_imu.h
index 55d5a24d44c76e95b31a233d10fc2617094cce2f..e7b6b9549e9481269262ad7dd3122cc6a0e6a187 100644
--- a/include/imu/processor/processor_imu.h
+++ b/include/imu/processor/processor_imu.h
@@ -39,7 +39,7 @@ struct ParamsProcessorImu : public ParamsProcessorMotion
         BOOTSTRAP_G,
         BOOTSTRAP_V0_G
     } bootstrap_method;
-    int bootstrap_averaging_length;
+    double bootstrap_averaging_length;
 
     ParamsProcessorImu() = default;
     ParamsProcessorImu(std::string _unique_name, const ParamsServer& _server):
@@ -54,13 +54,13 @@ struct ParamsProcessorImu : public ParamsProcessorMotion
             {
                 bootstrap_method = BOOTSTRAP_STATIC;
                 bootstrap_averaging_length =
-                    _server.getParam<int>(prefix + _unique_name + "/bootstrap/averaging_length");
+                    _server.getParam<double>(prefix + _unique_name + "/bootstrap/averaging_length");
             }
             if (str == "G" /*     */)
             {
                 bootstrap_method = BOOTSTRAP_G;
                 bootstrap_averaging_length =
-                    _server.getParam<int>(prefix + _unique_name + "/bootstrap/averaging_length");
+                    _server.getParam<double>(prefix + _unique_name + "/bootstrap/averaging_length");
             }
             if (str == "V0_G" /*  */)
             {
diff --git a/src/yaml/processor_imu_yaml.cpp b/src/yaml/processor_imu_yaml.cpp
index ff2b02eafd23efb19d332aac1b5c60d97580d6b5..53bc6918d5eb753f4c801dad35058dd7c0d6174a 100644
--- a/src/yaml/processor_imu_yaml.cpp
+++ b/src/yaml/processor_imu_yaml.cpp
@@ -74,7 +74,7 @@ static ParamsProcessorBasePtr createProcessorImuParams(const std::string & _file
             if (str == "G" /*     */)
             {
                 params->bootstrap_method           = ParamsProcessorImu::BootstrapMethod::BOOTSTRAP_G;
-                params->bootstrap_averaging_length = bootstrap["averaging_length"].as<int>();
+                params->bootstrap_averaging_length = bootstrap["averaging_length"].as<double>();
             }
             if (str == "V0_G" /*  */)
             {