luxonis · Erol444 · Aug 23, 2022 · Aug 22, 2022
diff --git a/docs/source/components/device.rst b/docs/source/components/device.rst
@@ -3,9 +3,9 @@
 Device
 ======
 
-Device represents an `OAK camera <https://docs.luxonis.com/projects/hardware/en/latest/>`__. On all of our devices there's a powerful vision processing unit
-(**VPU**), called `Myriad X <https://www.intel.com/content/www/us/en/products/details/processors/movidius-vpu.html>`__.
-The VPU is optimized for performing AI inference algorithms and for processing sensory inputs (eg. calculating stereo disparity from two cameras).
+Device represents an `OAK camera <https://docs.luxonis.com/projects/hardware/en/latest/>`__. On all of our devices there's a powerful Robotics Vision Core
+(`RVC <https://docs.luxonis.com/projects/hardware/en/latest/pages/rvc/rvc2.html#rvc2>`__). The RVC is optimized for performing AI inference algorithms and
+for processing sensory inputs (eg. calculating stereo disparity from two cameras).
 
 Device API
 ##########
@@ -21,7 +21,7 @@ When you create the device in the code, firmware is uploaded together with the p
 
   # Upload the pipeline to the device
   with depthai.Device(pipeline) as device:
-    # Print Myriad X Id (MxID), USB speed, and available cameras on the device
+    # Print MxID, USB speed, and available cameras on the device
     print('MxId:',device.getDeviceInfo().getMxId())
     print('USB speed:',device.getUsbSpeed())
     print('Connected cameras:',device.getConnectedCameras())

diff --git a/docs/source/components/nodes/color_camera.rst b/docs/source/components/nodes/color_camera.rst
@@ -105,7 +105,7 @@ Usage
 Limitations
 ###########
 
-Here are known camera limitations for the Myriad X:
+Here are known camera limitations for the `RVC2 <https://docs.luxonis.com/projects/hardware/en/latest/pages/rvc/rvc2.html#rvc2>`__:
 
 - **ISP can process about 600 MP/s**, and about **500 MP/s** when the pipeline is also running NNs and video encoder in parallel
 - **3A algorithms** can process about **200..250 FPS overall** (for all camera streams). This is a current limitation of our implementation, and we have plans for a workaround to run 3A algorithms on every Xth frame, no ETA yet

diff --git a/docs/source/components/nodes/imu.rst b/docs/source/components/nodes/imu.rst
@@ -1,10 +1,14 @@
 IMU
 ===
 
-IMU (`intertial measurement unit <https://en.wikipedia.org/wiki/Inertial_measurement_unit>`__) node can be used to receive data from the IMU chip on the device.
-Our DepthAI devices use `BNO085 <https://www.ceva-dsp.com/product/bno080-085/>`__ 9-axis sensor (`datasheet here <https://www.ceva-dsp.com/wp-content/uploads/2019/10/BNO080_085-Datasheet.pdf>`__)
-that supports sensor fusion on the (IMU) chip itself. The IMU chip is connected to the Myriad X (VPU) over SPI (we have integrated
-`this driver <https://github.com/hcrest/bno080-driver>`__ to the DepthAI).
+IMU (`intertial measurement unit <https://en.wikipedia.org/wiki/Inertial_measurement_unit>`__) node can be used to receive data
+from the IMU chip on the device. Our OAK devices use either:
+
+- `BNO085 <https://www.ceva-dsp.com/product/bno080-085/>`__ (`datasheet here <https://www.ceva-dsp.com/wp-content/uploads/2019/10/BNO080_085-Datasheet.pdf>`__) 9-axis sensor, combining accelerometer, gyroscope, and magnetometer. It also does sensor fusion on the (IMU) chip itself. We have efficiently integrated `this driver <https://github.com/hcrest/bno080-driver>`__ into the DepthAI.
+- `BMI270 <https://www.bosch-sensortec.com/products/motion-sensors/imus/bmi270/>`__ 6-axis sensor, combining accelerometer and gyroscope
+
+. The IMU chip is connected to the `RVC <https://docs.luxonis.com/projects/hardware/en/latest/pages/rvc/rvc2.html#rvc2>`__
+over SPI.
 
 
 How to place it

diff --git a/docs/source/index.rst b/docs/source/index.rst
@@ -15,7 +15,7 @@ We support both :ref:`Python API <Python API Reference>` and :ref:`C++ API <C++
 .. image:: /_static/images/api_diagram.png
 
 - **Host side** is a computer, like PC or RPi, to which an OAK device is connected.
-- **Device side** is the OAK device itself. If something is happening on the device side, it means that it's running on the `Myriad X VPU <https://www.intel.com/content/www/us/en/products/details/processors/movidius-vpu/movidius-myriad-x.html>`__. More :ref:`information here <components_device>`.
+- **Device side** is the OAK device itself. If something is happening on the device side, it means that it's running on the Robotics Vision Core (`RVC <https://docs.luxonis.com/projects/hardware/en/latest/pages/rvc/rvc2.html#rvc2>`__). More :ref:`information here <components_device>`.
 - **Pipeline** is a complete workflow on the device side, consisting of :ref:`nodes <Nodes>` and connections between them. More :ref:`information here <components_device>`.
 - **Node** is a single functionality of the DepthAI. :ref:`Nodes` have inputs or outputs, and have configurable properties (like resolution on the camera node).
 - **Connection** is a link between one node's output and another one's input. In order to define the pipeline dataflow, the connections define where to send :ref:`messages <Messages>` in order to achieve an expected result

diff --git a/docs/source/samples/Yolo/tiny_yolo.rst b/docs/source/samples/Yolo/tiny_yolo.rst
@@ -2,7 +2,8 @@ RGB & Tiny YOLO
 ===============
 
 This example shows how to run Tiny YOLOv4 or YOLOv3 on the RGB input frame, and how to display both the RGB
-preview and the metadata results from the YOLO model on the preview. Decoding is done on the VPU (Myriad X) instead on the host.
+preview and the metadata results from the YOLO model on the preview. Decoding is done on the `RVC <https://docs.luxonis.com/projects/hardware/en/latest/pages/rvc/rvc2.html#rvc2>`__
+instead on the host computer.
 
 Configurable, network dependent parameters are required for correct decoding: