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IMU datarate to surface computer

Hi all,
I’m trying to have an estimate of the path that the bluerov does while underwater using the IMU. Even if I know it can not be precise, I would be happy to get an idea.
In trying to do so I realized that both from QGroundControl and using Pymavlink I’m not able to get IMU data faster then 3 Hz.
Do you know what is limiting the speed? Or how can I achieve higher data rate?

Thanks!

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