diff --git a/include/core/processor/processor_motion.h b/include/core/processor/processor_motion.h
index 3d331805b70aed8e3cca165dc41613e71e7965ff..4df3a67fb9dcf99d07b6009f11f9906f7c4c9377 100644
--- a/include/core/processor/processor_motion.h
+++ b/include/core/processor/processor_motion.h
@@ -484,7 +484,6 @@ class ProcessorMotion : public ProcessorBase, public IsMotion
         CaptureMotionPtr origin_ptr_;
         CaptureMotionPtr last_ptr_;
         CaptureMotionPtr incoming_ptr_;
-        bool last_nullptr_;
         
     protected:
         // helpers to avoid allocation
diff --git a/src/processor/processor_motion.cpp b/src/processor/processor_motion.cpp
index 366d9e4aa1f9fa59880dc3f175a146577786cc6d..68b12a87c03737150804e26a6924e64d5fbdbb7a 100644
--- a/src/processor/processor_motion.cpp
+++ b/src/processor/processor_motion.cpp
@@ -33,7 +33,6 @@ ProcessorMotion::ProcessorMotion(const std::string& _type,
         origin_ptr_(),
         last_ptr_(),
         incoming_ptr_(),
-        last_nullptr_(false),
         dt_(0.0), 
         x_(_state_size),
         delta_(_delta_size),
@@ -315,11 +314,6 @@ void ProcessorMotion::processCapture(CaptureBasePtr _incoming_ptr)
             break;
     }
 
-    if (last_nullptr_){
-        integrateOneStep();
-        last_nullptr_ = false;
-    }
-
 
     // Update state and time stamps
     const auto& ts = getTimeStamp();