Fast IMU Reading for BBBlue?

Hi there

I just wanted to know how fast are you able to read the IMU of BBBlue when operating in one shot mode, eg. using the functions from robot library.

I am able to read both gyro and accel in around 800 microseconds, which seems a bit slow. Is there a way to achieve a faster read without the DMP? I managed to get an estimate of the DMP time required to read and it also seems high. Let me know if you want to know how I estimated this.

Thank you for your interest.

All the best,