A leadless cardiac pacemaker, LCP, (100; 400) configured to sense cardiac activity and to deliver pacing therapy to a ventricle of a patient's heart, the LCP (100; 400) comprising: a housing (120; 402); a first electrode secured relative to the housing (120; 402); and exposed to the environment outside of the housing (120; 402);; a second electrode secured relative to the housing (120; 402); and exposed to the environment outside of the housing (120; 402);; a sensing module secured relative to the housing (120; 402); and responsive to the environment outside of the housing (120; 402); the sensing module including at least two measurement modules including a pressure measurement module and at least one of an acoustic measurement module, an acceleration measurement module, and an electrogram measurement module; a control module operatively coupled to the first electrode, the second electrode, and the sensing module, the control module is configured to: identify a window of time during each of one or more cardiac cycles, wherein the window of time has a duration that is less than an entire cardiac cycle; process information gathered during the window of time by at least the pressure measurement module to identify an atrial event of the patient's heart during a cardiac cycle; and deliver a ventricular pacing pulse to the patient's heart via the first electrode and the second electrode, wherein the ventricular pacing pulse is delivered at a time that is based, at least in part, on the identified atrial event; wherein the control module dynamically selects which of the at least two measurement modules are used to gather information during the window of time to identify the atrial event based at least in part on a detected signal to noise ratio for each of the at least two measurement modules. a housing (120; 402); a first electrode secured relative to the housing (120; 402); and exposed to the environment outside of the housing (120; 402);; a second electrode secured relative to the housing (120; 402); and exposed to the environment outside of the housing (120; 402);; a sensing module secured relative to the housing (120; 402); and responsive to the environment outside of the housing (120; 402); the sensing module including at least two measurement modules including a pressure measurement module and at least one of an acoustic measurement module, an acceleration measurement module, and an electrogram measurement module; a control module operatively coupled to the first electrode, the second electrode, and the sensing module, the control module is configured to: identify a window of time during each of one or more cardiac cycles, wherein the window of time has a duration that is less than an entire cardiac cycle; process information gathered during the window of time by at least the pressure measurement module to identify an atrial event of the patient's heart during a cardiac cycle; and deliver a ventricular pacing pulse to the patient's heart via the first electrode and the second electrode, wherein the ventricular pacing pulse is delivered at a time that is based, at least in part, on the identified atrial event; identify a window of time during each of one or more cardiac cycles, wherein the window of time has a duration that is less than an entire cardiac cycle; process information gathered during the window of time by at least the pressure measurement module to identify an atrial event of the patient's heart during a cardiac cycle; and deliver a ventricular pacing pulse to the patient's heart via the first electrode and the second electrode, wherein the ventricular pacing pulse is delivered at a time that is based, at least in part, on the identified atrial event; wherein the control module dynamically selects which of the at least two measurement modules are used to gather information during the window of time to identify the atrial event based at least in part on a detected signal to noise ratio for each of the at least two measurement modules.