data (accel or quat) go not up to 200 Hz,they reach max 15Hz

Depending on which control you are using, you may be adjusting the serial transmission rate rather than the FIFO buffer. Can you explain which HW / SW platform you are using, as well as which api function you are using to control the data rate?

i have a similar using the eMPL v4.1

i changed the

state.fifo_ms = 50 (1000)

state.fifo_ms = 10

inv_set_fifo_rate(1)

The DMP rate is fixed at 200 Hz and can’t be adjusted. If you need faster data rates, then you can pull raw data and use your own sensor fusion algorithm. Typically, you’ll only need higher data rates for the most demanding applications, where you’d probably want your own fusion algorithms anyway.

The rate you can modify is the rate at which the DMP calculated quaternion (and raw) values are updated into the FIFO buffer, with inv_set_fifo_rate().

There's an example in the MotionFit SDK download:

if (state.fifo_ms == 200) { /*if was 5Hz, set to 10 Hz */
inv_set_fifo_rate(19);
state.fifo_ms = 100;
} else if (state.fifo_ms == 100) { /*if was 10Hz, set to 20 Hz */
inv_set_fifo_rate(9);
state.fifo_ms = 50;
} else if (state.fifo_ms == 50) { /* if was 20Hz, set to 5 Hz */
inv_set_fifo_rate(39);
state.fifo_ms = 200;
}

ok that made some problems clear.

but if i want to update just the accel for excample with 500Hz , can i use eMPL_update_data() for this? or is that just for fusion values?

at this point now, i havent any idea what must be changed to become a higher count of accel data.

thats exactly what i try.

tried it now simply as possible

while (i < 1000)

{

eMPL_update_data();

inv_get_accel(data);



i++;

}

200 Hz data is possible given a platform with sufficient MIPS, or for either raw data, or 6 axis fused quaternion, as it is reported directly from the MPU device. It's just an issue with the lower processing power of the typical 8 / 16 bit microcontroller. eMPL will cap the data rate at 200 Hz. For 1kHz Accel data, you can not run eMPL, you would have to set the rates, and access the data register with the provided I2C functions. This is definitely possible on the MotionFit SDK platform on MSP430.

ok today i will test it what happend if i set the sensors to 6 axis and if that makes it not better i will implement the accel to my own.

i will report.

edit1:

....

ts = 0;

last_send = 0;



inv_set_fifo_rate(1);

state.fifo_ms = 10;



printf("Start: n");

msp430_get_clock_count(&timestamp);

while (i < 200) {



msp430_get_clock_count(&ts);



if (ts > 1)))

continue;



msp430_get_clock_count(&last_send);



if (eMPL_update_data())

continue;



inv_get_quaternion(data);

value = data[1];

i++;



}

msp430_get_clock_count(&last_update);

last_update = last_update - timestamp;

printf("Stop: %ldn ############n", last_update);



//print: value

A new version of the MotionFit Software (5.1) has been released, we recommend that you upgrade to the latest version.

For the previous release, the fused data is retrieved in a polling method. inv_set_fifo_rate() will set the rate at which the 9 axis fusion algorithm is calculated, while State.fifo_ms will control how quickly the data is retrieved. If the calculation can’t keep up, then grabbing the data every 10 ms will result in duplicate data. You can reduce the computation time by lowering rate the quaternion is calculated, or reduce the time you are grabbing data on the microcontroller.

To set the data rate to 100 Hz, for example, you would program this:

State.fifo_ms = 10
inv_set_fifo_rate(2);

The new application operates with an interrupt driven method, that is set to a default 50 Hz value. This rate can be modified.