Hi, we are using the ICM-20948 in real time environment. The device is supposed to provide the geomagnetic rotation vector in order to to be able to calculate the orientation of the system but the rate of change is so slow that it does not detect sudden movements and has a 10 seconds delay aprox to detect a 180° yaw turn. It is not a sample rate problem since the information comes out at the correct frequency but with very small changes even with large turns