diff --git a/firmware/Cargo.toml b/firmware/Cargo.toml
index 83e2d931..9b7ac861 100644
--- a/firmware/Cargo.toml
+++ b/firmware/Cargo.toml
@@ -167,6 +167,7 @@ esp-wifi = { git = "https://github.com/esp-rs/esp-wifi.git", rev = "76ba312", fe
   "embedded-svc",
   "wifi",
   "embassy-net",
+  "ps-min-modem",
 ], optional = true }
 smoltcp = { version = "0.9", default-features = false, features = [
 ], optional = true }
@@ -213,6 +214,7 @@ nalgebra = { version = "0.31", default-features = false, features = [
   "macros",
   "libm",
 ] }
+approx = "0.5.1"
 fugit = "0.3"
 firmware_protocol = { path = "../networking/firmware_protocol", features = [
   "nalgebra031",
diff --git a/firmware/src/imu/mod.rs b/firmware/src/imu/mod.rs
index 775e0b58..9b2f50bd 100644
--- a/firmware/src/imu/mod.rs
+++ b/firmware/src/imu/mod.rs
@@ -1,6 +1,7 @@
 mod drivers;
 mod fusion;
 
+use approx::AbsDiffEq;
 use defmt::{debug, info, trace, warn};
 use embassy_executor::task;
 use firmware_protocol::ImuType;
@@ -46,6 +47,7 @@ pub async fn imu_task(
 	info!("Initialized IMU!");
 
 	let mut i = 0;
+	let mut prev_q = Quat::identity();
 	loop {
 		let q = match imu.next_data().await {
 			Ok(q) => q.q,
@@ -64,7 +66,10 @@ pub async fn imu_task(
 			);
 		}
 		i += 1;
-		quat_signal.signal(q);
+		if !q.abs_diff_eq(&prev_q, 0.0001) {
+			prev_q = q;
+			quat_signal.signal(q);
+		}
 	}
 }