RobotRoss
In LINEAR_INTERPOLATE_GYRO mode, the system prioritizes the gyroscope data and interpolates accelerometer and other sensor data (such as the magnetometer or rotation vector) to match the gyroscope’s timestamps. This mode assumes that the gyroscope data is the most important for your application (which seems to be your case, as you’re focusing on yaw rate).
The gyroscope data (including yaw rate) will be used as the primary source, and the accelerometer and other sensor data will be linearly interpolated to match the gyroscope’s timestamps. This ensures that the rotational data you receive is consistent with the gyroscope’s measurements. This is particularly important if you plan to fuse data from multiple sensors, as it reduces discrepancies due to unsynchronized timestamps.
Thanks,
Jaka