diff --git a/src/examples/test_processor_imu.cpp b/src/examples/test_processor_imu.cpp
index 3aa39a1399f7cd0614c6940ba6d59ae8633566a6..e5c362c406848ee8ef4eda64afd211c1df362ae5 100644
--- a/src/examples/test_processor_imu.cpp
+++ b/src/examples/test_processor_imu.cpp
@@ -13,6 +13,7 @@
 #include "state_block.h"
 #include "state_quaternion.h"
 #include "processor_imu.h"
+#include "timer.h"
 
 //std
 #include <iostream>
@@ -104,6 +105,7 @@ int main(int argc, char** argv)
     // main loop
     using namespace std;
     clock_t begin = clock();
+    wolf::timer_usecs timer;
     int n = 1;
     while(!data_file_acc.eof() && n < 1000){
         n++;
@@ -155,6 +157,7 @@ int main(int argc, char** argv)
 
     }
     clock_t end = clock();
+    double elapsed_usecs = timer.toc();
     double elapsed_secs = double(end - begin) / CLOCKS_PER_SEC;
 
     // Final state
@@ -187,6 +190,9 @@ int main(int argc, char** argv)
     std::cout << "duration  : " << tf-t0 << " s" << std::endl;
     std::cout << "N samples : " << N << std::endl;
     std::cout << "frequency : " << (N-1)/(tf-t0) << " Hz" << std::endl;
+    std::cout << "time      : " << elapsed_usecs/1e6        << " s"   << "\n";
+    std::cout << "s/integr  : " << elapsed_usecs/(N-1)      << " us"  << "\n";
+    std::cout << "integr/s  : " << (N-1)/elapsed_usecs*1e6  << " ips" << "\n";
     std::cout << "CPU time  : " << elapsed_secs << " s" << std::endl;
     std::cout << "s/integr  : " << elapsed_secs/(N-1)*1e6 << " us" << std::endl;
     std::cout << "integr/s  : " << (N-1)/elapsed_secs << " ips" << std::endl;