diff --git a/depthai-core b/depthai-core
index bab310c73..eaa9a1232 160000
--- a/depthai-core
+++ b/depthai-core
@@ -1 +1 @@
-Subproject commit bab310c7386b4fa1814daf775d5f0be3d6adbc2e
+Subproject commit eaa9a1232190ae232bff85864897c9f837e02d35
diff --git a/docs/source/components/pipeline.rst b/docs/source/components/pipeline.rst
index 2aadc2c3d..2e1390c97 100644
--- a/docs/source/components/pipeline.rst
+++ b/docs/source/components/pipeline.rst
@@ -43,7 +43,7 @@ The reason behind this is that OpenVINO doesn't provide version inside the blob.
 
   pipeline = depthai.Pipeline()
   # Set the correct version:
-  pipeline.setOpenVINOVersion(depthai.OpenVINO.Version.VERSION_2020_1)
+  pipeline.setOpenVINOVersion(depthai.OpenVINO.Version.VERSION_2021_4)
 
 How to place it
 ###############
diff --git a/examples/imu_rotation_vector.py b/examples/imu_rotation_vector.py
index 61f20292b..63563fae6 100755
--- a/examples/imu_rotation_vector.py
+++ b/examples/imu_rotation_vector.py
@@ -53,7 +53,7 @@ def timeDeltaToMilliS(delta) -> float:
             print(f"Rotation vector timestamp: {tsF.format(timeDeltaToMilliS(rvTs))} ms")
             print(f"Quaternion: i: {imuF.format(rVvalues.i)} j: {imuF.format(rVvalues.j)} "
                 f"k: {imuF.format(rVvalues.k)} real: {imuF.format(rVvalues.real)}")
-            print(f"Accuracy (rad): {imuF.format(rVvalues.accuracy)}")
+            print(f"Accuracy (rad): {imuF.format(rVvalues.rotationVectorAccuracy)}")
 
 
         if cv2.waitKey(1) == ord('q'):
diff --git a/src/DatatypeBindings.cpp b/src/DatatypeBindings.cpp
index c939b8f3b..a0ac63aa8 100644
--- a/src/DatatypeBindings.cpp
+++ b/src/DatatypeBindings.cpp
@@ -80,6 +80,16 @@ void DatatypeBindings::bind(pybind11::module& m){
                 o.ts.nsec = (ts - o.ts.sec) * 1000000000.0;
             }
         )
+        .def_property("tsDevice",
+            [](const RawImgFrame& o){
+                double ts = o.tsDevice.sec + o.tsDevice.nsec / 1000000000.0;
+                return ts;
+            },
+            [](RawImgFrame& o, double ts){
+                o.tsDevice.sec = ts;
+                o.tsDevice.nsec = (ts - o.tsDevice.sec) * 1000000000.0;
+            }
+        )
         ;
 
     py::enum_<RawImgFrame::Type>(rawImgFrame, "Type")
@@ -304,11 +314,11 @@ void DatatypeBindings::bind(pybind11::module& m){
         .def_readwrite("timestamp", &IMUReport::timestamp)
         ;
 
-    py::enum_<IMUReport::IMUReportAccuracy>(imureport, "IMUReportAccuracy")
-        .value("UNRELIABLE", IMUReport::IMUReportAccuracy::UNRELIABLE)
-        .value("LOW", IMUReport::IMUReportAccuracy::LOW)
-        .value("MEDIUM", IMUReport::IMUReportAccuracy::MEDIUM)
-        .value("HIGH", IMUReport::IMUReportAccuracy::HIGH)
+    py::enum_<IMUReport::Accuracy>(imureport, "Accuracy")
+        .value("UNRELIABLE", IMUReport::Accuracy::UNRELIABLE)
+        .value("LOW", IMUReport::Accuracy::LOW)
+        .value("MEDIUM", IMUReport::Accuracy::MEDIUM)
+        .value("HIGH", IMUReport::Accuracy::HIGH)
         ;
 
     py::class_<IMUReportAccelerometer, IMUReport, std::shared_ptr<IMUReportAccelerometer>>(m, "IMUReportAccelerometer", DOC(dai, IMUReportAccelerometer))
@@ -338,7 +348,7 @@ void DatatypeBindings::bind(pybind11::module& m){
         .def_readwrite("j", &IMUReportRotationVectorWAcc::j)
         .def_readwrite("k", &IMUReportRotationVectorWAcc::k)
         .def_readwrite("real", &IMUReportRotationVectorWAcc::real)
-        .def_readwrite("accuracy", &IMUReportRotationVectorWAcc::accuracy)
+        .def_readwrite("rotationVectorAccuracy", &IMUReportRotationVectorWAcc::rotationVectorAccuracy)
         ;
 
 #if 0
@@ -521,6 +531,7 @@ void DatatypeBindings::bind(pybind11::module& m){
         .def(py::init<>())
         // getters
         .def("getTimestamp", &ImgFrame::getTimestamp, DOC(dai, ImgFrame, getTimestamp))
+        .def("getTimestampDevice", &ImgFrame::getTimestampDevice, DOC(dai, ImgFrame, getTimestampDevice))
         .def("getInstanceNum", &ImgFrame::getInstanceNum, DOC(dai, ImgFrame, getInstanceNum))
         .def("getCategory", &ImgFrame::getCategory, DOC(dai, ImgFrame, getCategory))
         .def("getSequenceNum", &ImgFrame::getSequenceNum, DOC(dai, ImgFrame, getSequenceNum))
diff --git a/src/openvino/OpenVINOBindings.cpp b/src/openvino/OpenVINOBindings.cpp
index 6ad3346ac..eca2a0b04 100644
--- a/src/openvino/OpenVINOBindings.cpp
+++ b/src/openvino/OpenVINOBindings.cpp
@@ -19,19 +19,18 @@ void OpenVINOBindings::bind(pybind11::module& m){
     ;
 
     // not strongly typed enum OpenVINO::Version
-    // previous step defined class 'OpenVINO' (variable 'openvino') 
+    // previous step defined class 'OpenVINO' (variable 'openvino')
     // which is used in defining the following enum (its scope)
-    // and that the values are available directly under OpenVINO.VERSION_2020_1, ...
+    // and that the values are available directly under OpenVINO.VERSION_2021_4, ...
     // they are exported
-    // By default, pybind creates strong typed enums, eg: OpenVINO::Version::VERSION_2020_1 
+    // By default, pybind creates strong typed enums, eg: OpenVINO::Version::VERSION_2021_4
     py::enum_<OpenVINO::Version>(openvino, "Version", DOC(dai, OpenVINO, Version))
-        .value("VERSION_2020_1", OpenVINO::Version::VERSION_2020_1)
-        .value("VERSION_2020_2", OpenVINO::Version::VERSION_2020_2)
         .value("VERSION_2020_3", OpenVINO::Version::VERSION_2020_3)
         .value("VERSION_2020_4", OpenVINO::Version::VERSION_2020_4)
         .value("VERSION_2021_1", OpenVINO::Version::VERSION_2021_1)
         .value("VERSION_2021_2", OpenVINO::Version::VERSION_2021_2)
         .value("VERSION_2021_3", OpenVINO::Version::VERSION_2021_3)
+        .value("VERSION_2021_4", OpenVINO::Version::VERSION_2021_4)
         .export_values()
     ;