Firstly, thanks for your response. Some additional questions below. 1) There are two tables in the document that refer to the ODR. The one of page 7,states an accelerometer ODR of 100Hz and the one on page 14 (captioned Table 4) says 50Hz. In the post shown here and the post shown here the listed code implies a ODR of 100Hz. Just to confirm: the accelerometer and gyro ODR should be 50Hz? For the mag, an ODR of 20Hz cannot be configured, only 25Hz. Is that acceptable? 2) OK, thanks for answer. 3) In the sample code the bmf055(file attached), see bmf055.cm bsx_lite_raw_feed() function call , it looks like the data is being fed in at a rate of 100Hz, not 50Hz. 4) Understood. My specific question (Sorry, I was probably not clear) is about the stack usage, as there is no indication in the document as to what is required. 5) OK, but, again, there is no description as to what each value does. When you say "... you can change the axis remapping 3x3 matrix in the array.", which elements in the array need to be changed? And how? Regards John
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