Hello Thanks for your posts and interests in using Bosch sensors. I checked your settings into details, one thing I noticed is that: aux_rd_burst = 6; /* 3 axes */ actually, 6 is an invalid value, valid values range from 0 to 3, from the datasheet: https://www.bosch-sensortec.com/media/boschsensortec/downloads/datasheets/bst-bmi270-ds000-2.pdf, page 116 or search for: man_rd_burst 0: burst read of length1 1: burst read of length 2 2: burst read of length 6 3: burst read of length 8 You may want to change this and see what happens. I personally had tested the sensors' streaming in FIFO with accel/gyro/mag in the past, but never seen issues with samples dropped or alike. One thing to be noted though: the actual ODR is not exactlly the same as what is selected due to the fact that the clocks on the sensors can not be perfect, for example, when you set the ODR to 100hz, the actually ODR could be 99hz or 101hz, and this error is also specified in the datasheet on page 14 (ODR Accuracy), so in one second you might see 99 or 101 samples instead of expected 100 samples, if you see 99, you might think a sample is lost while this is absolutely expected normal behavior. Hope this explains! Take care!
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