The OpenShoe runtime framework and the Navigation algorithm repos has recently been updated to use time dependent time differentials. A clock register is read out on every interrupt and the resulting time differentials are used to adjust the “dt” in the mechanization equations and the filter. This we have found necessary if the IMU is free running since the IMU oscillator has clock pace variations (primarily between different units) of plus-minus 1%. Under some conditions this gives significant performance degradation. The resent patch fixes this.