Been using this to build a LoRa relay for the Bitchat app running on nrf52, it's actually very smooth for the most part. The only panics I seem to get are from the Nordic's SoftDevice, not for the ebasssy-rust code itself.
How does your system handle the massive variance in sensor quality (accelerometer, gyro, WiFi radio) between a high-end iPhone and a budget Android device? Does the 1m accuracy hold up across the board, or does it degrade gracefully? Getting this right seems critical for scaling to a 'billion people'