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What is refresh rate ( update rate) for gyroscop and accelerometer ? If you write in the register the following values in mpu6050 :

SMPLRT_DIV --> 19

CONFIG --> 2 ( DLPF off )

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I would suggest the first thing is to look at the register map of MPU6050 ( that is mostly named as register map MPU6000)

According to the formula given in the CONFIG register description

Sample Rate = Gyroscope output rate / (1+SMPLRT_DIV)

Over here you have chosen Gyroscope rate as 1KHz , hence your sample rate comes to 50 Hz i.e 50 Samples per second.

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