diff --git a/CMakeLists.txt b/CMakeLists.txt
index 3ea81c85e..de9b4152f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -68,6 +68,7 @@ option(GTSAM_BUILD_PYTHON                "Enable/Disable building & installation
 option(GTSAM_ALLOW_DEPRECATED_SINCE_V4   "Allow use of methods/functions deprecated in GTSAM 4" ON)
 option(GTSAM_USE_VECTOR3_POINTS          "Simply typdef Point3 to eigen::Vector3d" OFF)
 option(GTSAM_SUPPORT_NESTED_DISSECTION   "Support Metis-based nested dissection" ON)
+option(GTSAM_TANGENT_PREINTEGRATION      "Use new ImuFactor with integration on tangent space" ON)
 
 # Options relating to MATLAB wrapper
 # TODO: Check for matlab mex binary before handling building of binaries
@@ -485,13 +486,14 @@ message(STATUS "  CPack Source Generator         : ${CPACK_SOURCE_GENERATOR}")
 message(STATUS "  CPack Generator                : ${CPACK_GENERATOR}")
 
 message(STATUS "GTSAM flags                                               ")
-print_config_flag(${GTSAM_USE_QUATERNIONS}             "Quaternions as default Rot3    ")
-print_config_flag(${GTSAM_ENABLE_CONSISTENCY_CHECKS}   "Runtime consistency checking   ")
-print_config_flag(${GTSAM_ROT3_EXPMAP}                 "Rot3 retract is full ExpMap    ")
-print_config_flag(${GTSAM_POSE3_EXPMAP}                "Pose3 retract is full ExpMap   ")
-print_config_flag(${GTSAM_ALLOW_DEPRECATED_SINCE_V4}   "Deprecated in GTSAM 4 allowed  ")
-print_config_flag(${GTSAM_USE_VECTOR3_POINTS}          "Point3 is typedef to Vector3   ")
-print_config_flag(${GTSAM_SUPPORT_NESTED_DISSECTION}   "Metis-based Nested Dissection  ")
+print_config_flag(${GTSAM_USE_QUATERNIONS}             "Quaternions as default Rot3     ")
+print_config_flag(${GTSAM_ENABLE_CONSISTENCY_CHECKS}   "Runtime consistency checking    ")
+print_config_flag(${GTSAM_ROT3_EXPMAP}                 "Rot3 retract is full ExpMap     ")
+print_config_flag(${GTSAM_POSE3_EXPMAP}                "Pose3 retract is full ExpMap    ")
+print_config_flag(${GTSAM_ALLOW_DEPRECATED_SINCE_V4}   "Deprecated in GTSAM 4 allowed   ")
+print_config_flag(${GTSAM_USE_VECTOR3_POINTS}          "Point3 is typedef to Vector3    ")
+print_config_flag(${GTSAM_SUPPORT_NESTED_DISSECTION}   "Metis-based Nested Dissection   ")
+print_config_flag(${GTSAM_TANGENT_PREINTEGRATION}      "Use tangent-space preintegration")
 
 message(STATUS "MATLAB toolbox flags                                      ")
 print_config_flag(${GTSAM_INSTALL_MATLAB_TOOLBOX}      "Install matlab toolbox         ")
diff --git a/gtsam/config.h.in b/gtsam/config.h.in
index f9a576d14..42d5e7517 100644
--- a/gtsam/config.h.in
+++ b/gtsam/config.h.in
@@ -68,3 +68,6 @@
 
 // Support Metis-based nested dissection
 #cmakedefine GTSAM_SUPPORT_NESTED_DISSECTION
+
+// Support Metis-based nested dissection
+#cmakedefine GTSAM_TANGENT_PREINTEGRATION