Why I'm missing data in BMI160 FIFO, when changing ODR / bandwidth?

[elrhoul]

Why there is data missing in the FIFO when changing the ODR / bandwidth of the sensor on-the-fly?

[elrhoul · Accepted solution]

When the sensor is running in normal mode, there is a filter in the internal signal path of the sensor. If the user changes the settings of bandwidth / ODR, the filter takes some time to 'settle down',  which takes 3 – 4 samples period.  During this 'settling' period no new data will be generated. This phenomenon can also be observed when the sensor is just powered on or resumed from suspend mode.