diff --git a/mustard.py b/mustard.py
index 8e1940d..e378e0b 100644
--- a/mustard.py
+++ b/mustard.py
@@ -64,6 +64,7 @@
     from visualiser import VisualiserPose6q
     from visualiser import VisualiserBoundingBoxes
     from visualiser import VisualiserOpticFlow
+    from visualiser import VisualiserImu
     from timestamps import getLastTimestamp
 except ModuleNotFoundError:
     if __package__ is None or __package__ == '':
@@ -74,6 +75,7 @@
     from bimvee.visualiser import VisualiserPose6q
     from bimvee.visualiser import VisualiserBoundingBoxes
     from bimvee.visualiser import VisualiserOpticFlow
+    from bimvee.visualiser import VisualiserImu
     from bimvee.timestamps import getLastTimestamp
 
 from viewer import Viewer
@@ -101,7 +103,7 @@ class DictEditor(GridLayout):
     dict = DictProperty(None)
 
     def on_dict(self, instance, value):
-        # 2020_03_10 Sim: Why only import Spinner here? at the top of the file 
+        # 2020_03_10 Sim: Why only import Spinner here? at the top of the file
         # it was causing a crash when starting in a thread - no idea why
         from kivy.uix.spinner import Spinner
         for n, topic in enumerate(sorted(value)):
@@ -121,6 +123,9 @@ def on_dict(self, instance, value):
             elif 'flow' in topic:
                 spinner.text = 'flowMap'
                 check_box.active = True
+            elif 'imu' in topic:
+                spinner.text = 'imu'
+                check_box.active = True
 
             self.add_widget(spinner)
             self.add_widget(TextInput(text=topic))
@@ -163,10 +168,6 @@ def add_viewer_and_resize(self, data_dict, channel_name=''):
             settings[data_type] = {}
             if data_type == 'dvs':
                 visualiser = VisualiserDvs(data_dict[data_type])
-                settings[data_type] = {'polarised': {},
-                                       'contrast': {},
-                                       'pol_to_show': {}
-                                       }
                 settings[data_type]['polarised'] = {'type': 'boolean',
                                                     'default': True
                                                     }
@@ -185,20 +186,18 @@ def add_viewer_and_resize(self, data_dict, channel_name=''):
                 visualiser = VisualiserFrame(data_dict[data_type])
             elif data_type == 'pose6q':
                 visualiser = VisualiserPose6q(data_dict[data_type])
-                settings[data_type] = {'interpolate': {},
-                                       'perspective': {}}
                 settings[data_type]['interpolate'] = {'type': 'boolean',
                                                       'default': True
                                                       }
                 settings[data_type]['perspective'] = {'type': 'boolean',
                                                       'default': True
                                                       }
+                settings[data_type]['label_multiple_bodies'] = {'type': 'boolean',
+                                                      'default': True
+                                                      }
                 channel_name = channel_name + '\nred=x green=y, blue=z'
             elif data_type == 'point3':
                 visualiser = VisualiserPoint3(data_dict[data_type])
-                settings[data_type] = {'perspective': {},
-                                       'yaw': {},
-                                       'pitch': {}}
                 settings[data_type]['perspective'] = {'type': 'boolean',
                                                       'default': True
                                                       }
@@ -216,12 +215,29 @@ def add_viewer_and_resize(self, data_dict, channel_name=''):
                                                 }
             elif data_type == 'boundingBoxes':
                 visualiser = VisualiserBoundingBoxes(data_dict[data_type])
-                settings[data_type] = {'with_labels': {}}
                 settings[data_type]['with_labels'] = {'type': 'boolean',
                                                       'default': True
                                                       }
             elif data_type == 'flowMap':
                 visualiser = VisualiserOpticFlow(data_dict[data_type])
+            elif data_type == 'imu':
+                visualiser = VisualiserImu(data_dict[data_type])
+                settings[data_type]['perspective'] = {'type': 'boolean',
+                                                      'default': True
+                                                      }
+                settings[data_type]['rotation_scale'] = {'type': 'range',
+                                              'default': 50,
+                                              'min': 0,
+                                              'max': 100,
+                                              'step': 1
+                                              }
+                settings[data_type]['smoothing'] = {'type': 'range',
+                                              'default': 0,
+                                              'min': 0,
+                                              'max': 100,
+                                              'step': 1
+                                              }
+                channel_name = channel_name + '\nred=x green=y, blue=z'
             else:
                 print("Warning! {} is not a recognized data type. Ignoring.".format(data_type))
                 continue
diff --git a/viewer.py b/viewer.py
index 252cc56..2408772 100644
--- a/viewer.py
+++ b/viewer.py
@@ -69,7 +69,7 @@ def __init__(self, **kwargs):
     def on_visualisers(self, instance, value):
         if self.visualisers is not None and self.visualisers:
             for v in self.visualisers:  # TODO manage cases with multiple of below data_types
-                if v.data_type in ['dvs', 'frame', 'pose6q', 'point3', 'flowMap']:
+                if v.data_type in ['dvs', 'frame', 'pose6q', 'point3', 'flowMap', 'imu']:
                     self.colorfmt = v.get_colorfmt()
                     self.data_shape = v.get_dims()
                     buf_shape = (dp(self.data_shape[0]), dp(self.data_shape[1]))
@@ -125,7 +125,7 @@ def update_settings(self, parent_widget, settings_dict):
 
     def on_data(self, instance, value):
         for data_type in self.data.keys():
-            if data_type in ['dvs', 'frame', 'pose6q', 'point3', 'flowMap']:
+            if data_type in ['dvs', 'frame', 'pose6q', 'point3', 'flowMap', 'imu']:
                 self.update_image(self.data[data_type])
             elif data_type in ['boundingBoxes']:
                 self.update_b_boxes(self.data[data_type])