diff --git a/gtsam.h b/gtsam.h
index de4c1381d..5d86110aa 100644
--- a/gtsam.h
+++ b/gtsam.h
@@ -2286,7 +2286,8 @@ virtual class ConstantBias : gtsam::Value {
 #include <gtsam/navigation/ImuFactor.h>
 class ImuFactorPreintegratedMeasurements {
   // Standard Constructor
-  ImuFactorPreintegratedMeasurements(const gtsam::imuBias::ConstantBias& bias, Matrix measuredAccCovariance, Matrix measuredOmegaCovariance, Matrix integrationErrorCovariance);
+  ImuFactorPreintegratedMeasurements(const gtsam::imuBias::ConstantBias& bias, Matrix measuredAccCovariance,Matrix measuredOmegaCovariance, Matrix integrationErrorCovariance, bool use2ndOrderIntegration);
+  ImuFactorPreintegratedMeasurements(const gtsam::imuBias::ConstantBias& bias, Matrix measuredAccCovariance,Matrix measuredOmegaCovariance, Matrix integrationErrorCovariance);
   ImuFactorPreintegratedMeasurements(const gtsam::ImuFactorPreintegratedMeasurements& rhs);
 
   // Testable
diff --git a/matlab/unstable_examples/+imuSimulator/covarianceAnalysisCreateFactorGraph.m b/matlab/unstable_examples/+imuSimulator/covarianceAnalysisCreateFactorGraph.m
index d19619474..33bce851c 100644
--- a/matlab/unstable_examples/+imuSimulator/covarianceAnalysisCreateFactorGraph.m
+++ b/matlab/unstable_examples/+imuSimulator/covarianceAnalysisCreateFactorGraph.m
@@ -59,12 +59,14 @@ for i=0:length(measurements)
       currentBiasKey = symbol('b', i); % not used if includeIMUFactors is false
       
       if options.imuFactorType == 1
+        use2ndOrderIntegration = true;
         % Initialize preintegration
         imuMeasurement = gtsam.ImuFactorPreintegratedMeasurements(...
           metadata.imu.zeroBias, ...
           metadata.imu.AccelerometerSigma.^2 * eye(3), ...
           metadata.imu.GyroscopeSigma.^2 * eye(3), ...
-          metadata.imu.IntegrationSigma.^2 * eye(3));
+          metadata.imu.IntegrationSigma.^2 * eye(3), ...
+          use2ndOrderIntegration);
         % Generate IMU measurements with noise
         for j=1:length(measurements(i).imu) % all measurements to preintegrate
           imuAccel = measurements(i).imu(j).accel ...
diff --git a/matlab/unstable_examples/+imuSimulator/covarianceAnalysisCreateTrajectory.m b/matlab/unstable_examples/+imuSimulator/covarianceAnalysisCreateTrajectory.m
index 5f225f4df..cce0f69ee 100644
--- a/matlab/unstable_examples/+imuSimulator/covarianceAnalysisCreateTrajectory.m
+++ b/matlab/unstable_examples/+imuSimulator/covarianceAnalysisCreateTrajectory.m
@@ -9,7 +9,7 @@ import gtsam.*;
 
 values = Values;
 
-warning('fake angles! TODO: use constructor from roll-pitch-yaw when using real data - using identity rotation')
+warning('fake angles! TODO: use constructor from roll-pitch-yaw when using real data - currently using identity rotation')
 
 if options.useRealData == 1
   %% Create a ground truth trajectory from Real data (if available)