Hi, as title says, it seems like there is some internal rate limit preventing the SensorCombined message (also SensorGyro and VehicleIMU individual messages) from publishing > 200Hz. I have verified raw sensor data is coming in at 800Hz (gyro) and 400Hz (imu), and the dds_topics.yaml file is set up with no rate limit. It has to just be some hard parameter in the code?
Also, I’ve heard from some other people on previous px4 versions that they were able to get a faster IMU rate no problem, but I don’t know why that would be.