diff --git a/cmake/Depthai/DepthaiDeviceRVC4Config.cmake b/cmake/Depthai/DepthaiDeviceRVC4Config.cmake
index 9953f64898..7124fd7c58 100644
--- a/cmake/Depthai/DepthaiDeviceRVC4Config.cmake
+++ b/cmake/Depthai/DepthaiDeviceRVC4Config.cmake
@@ -3,4 +3,4 @@
 set(DEPTHAI_DEVICE_RVC4_MATURITY "snapshot")
 
 # "version if applicable"
-set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+b96987e20d3e015dae8854b5fa8faa599c8d5ea8")
+set(DEPTHAI_DEVICE_RVC4_VERSION "0.0.1+40ac229a57372612e96393b2a6bf595a51b8ae88")
diff --git a/tests/src/ondevice_tests/pipeline/node/imu_test.cpp b/tests/src/ondevice_tests/pipeline/node/imu_test.cpp
index 9d46b71e9c..5c288adda7 100644
--- a/tests/src/ondevice_tests/pipeline/node/imu_test.cpp
+++ b/tests/src/ondevice_tests/pipeline/node/imu_test.cpp
@@ -1,5 +1,6 @@
 #include <catch2/catch_all.hpp>
 #include <catch2/catch_test_macros.hpp>
+#include <chrono>
 #include <initializer_list>
 
 #include "depthai/depthai.hpp"
@@ -40,3 +41,39 @@ TEST_CASE("Test IMU, all sensors") {
 TEST_CASE("Test IMU, gyroscope 480 Hz") {
     basicIMUTest(480.0f, {dai::IMUSensor::GYROSCOPE_RAW}, 0.8f);  // TODO(Morato) - debug why some devices need so much tolerance
 }
+
+TEST_CASE("At least one measurement should be updated") {
+    dai::Pipeline pipeline;
+    auto imu = pipeline.create<dai::node::IMU>();
+    imu->enableIMUSensor(dai::IMUSensor::ACCELEROMETER_RAW, 400);
+    imu->enableIMUSensor(dai::IMUSensor::GYROSCOPE_RAW, 400);
+
+    imu->setBatchReportThreshold(10);
+    imu->setMaxBatchReports(20);
+
+    auto imuQueue = imu->out.createOutputQueue(50, false);
+
+    pipeline.start();
+
+    auto start = std::chrono::steady_clock::now();
+
+    dai::IMUPacket previousPacket;
+
+    uint32_t numMessages = 0;
+
+    while(pipeline.isRunning() && std::chrono::steady_clock::now() - start <= std::chrono::seconds(10)) {
+        auto imuData = imuQueue->get<dai::IMUData>();
+        if(imuData == nullptr) continue;
+
+        ++numMessages;
+
+        for(const auto& imuPacket : imuData->packets) {
+            REQUIRE((imuPacket.acceleroMeter.sequence > previousPacket.acceleroMeter.sequence || imuPacket.gyroscope.sequence > previousPacket.gyroscope.sequence));
+            previousPacket = imuPacket;
+        }
+    }
+
+    REQUIRE(numMessages > 0);
+
+    pipeline.stop();
+}