DMP Q9 performance comparison between MPU 9050 & ICM20948

[pallantirao]

After seeing the ICM specifications boasted as superior to MPU, I was very excited to wanted to shift my IMU development from MPU to ICM for good!! But very sadly I didn't see any joy of having such a , supposed to be , great product.

After successfully developing the code for a Linux platform with SPI interface with all the the default settings I could receive all the 9DOF (acc, gyro and att- quaternions) data but to my surprise with an output rate of 55Hz, where the counter part MPU dumping at 200Hz. Spent couple of days trying all the combination of sample rate and out put rate - the result - garbage data on start or after few good samples. My implementation is completely as per the available code in the GIT without any self ideas. I dont know I can ever use this product and continue with MPU.

The help I am looking is there any way to aquire the data based on interrupt as I do with MPY rather than polling on FIFO???? Is it ever possible to have att-quat at 200Hz. Other data acc & gyro seem to be available on demand, I dont see any issue. But as quaternions are computed by DMP with high-speed engine it is very essential to have this utilise this feature but not at 55Hz or 100Hz output rate. Also the shi value is never synching with MPU shi???? any help on this? What are the values of mag data along x,y,z axis in general? How to validate these values as they do not match with MPU???

Any expert support ?