Setting sampling rate fails by using mpu6050.h

[miketry0313]

Hello all,

 

I have a mpu 9150 IMU sensor, Arduino DUE and I am using mpu6050.h to get IMU data.

 

I have used MPU6050::setRate function to set different sampling rate (0~244) and it was verified by using MPU6050::getRate function. However, when I use below codes to check sampling rate of getMotion9 function, the rate always keep around 40Hz:

 

 mytime_pre=micros();

 MPU6050.getMotion9(&ax, &ay, &az, &gx, &gy, &gz, &mx, &my, &mz);

 mytime=micros();  

 sample_rate=mytime-mytime_pre

 

As far as I know, the sampling rate can be far more than 40Hz (I have disabled the low pass filter by using setDLPFMode(0). Did I do anything wrong while setting up sampling rate?

 

Thanks you in advanced.