diff --git a/src/processor_motion.cpp b/src/processor_motion.cpp
index 8cdbd2c1d884f22d8eda0056cd82b5f1b2caf0c5..0c1d4b4d0456acea02d3b151d9614facaf03b7a1 100644
--- a/src/processor_motion.cpp
+++ b/src/processor_motion.cpp
@@ -431,7 +431,7 @@ bool ProcessorMotion::keyFrameCallback(FrameBasePtr _new_keyframe, const Scalar&
 void ProcessorMotion::integrateOneStep()
 {
     // Set dt
-    updateDt();
+    dt_ = updateDt();
 
     // get vector of parameters to calibrate
     calib_ = getBuffer().getCalibrationPreint();
diff --git a/src/processor_motion.h b/src/processor_motion.h
index 89ecfd0704f24ed7ccd9865f5062b8a78a7aa689..d2c211d2f273202f3dd3896da32372a127a3edf4 100644
--- a/src/processor_motion.h
+++ b/src/processor_motion.h
@@ -205,7 +205,7 @@ class ProcessorMotion : public ProcessorBase
         // Helper functions:
     protected:
 
-        void updateDt();
+        Scalar updateDt();
         void integrateOneStep();
         void splitBuffer(const TimeStamp& _t_split, MotionBuffer& _oldest_part);
         void reintegrateBuffer(CaptureMotionPtr _capture_ptr);
@@ -516,9 +516,9 @@ inline bool ProcessorMotion::isMotion()
     return true;
 }
 
-inline void ProcessorMotion::updateDt()
+inline Scalar ProcessorMotion::updateDt()
 {
-    dt_ = incoming_ptr_->getTimeStamp() - getBuffer().get().back().ts_;
+    return dt_ = incoming_ptr_->getTimeStamp() - getBuffer().get().back().ts_;
 }
 
 inline const MotionBuffer& ProcessorMotion::getBuffer() const