MPU-6050 slow X/Y Quaternion

hello guys,

i have issue mpu-6050.
i work library jeff rowberg - should famous think.
now tried dmp-example readable_quaternion. z-axis works fine , without latency. x/y - axis slow , cant used project. there way make latency-free?

code: [select]


void loop() {
    // if programming failed, don't try anything
    if (!dmpready) return;

    // wait mpu interrupt or packet(s) available
    while (!mpuinterrupt && fifocount < packetsize) {
        // other program behavior stuff here
        // .
        // .
        // .
        // if paranoid can test in between other
        // stuff see if mpuinterrupt true, , if so, "break;" the
        // while() loop process mpu data
        // .
        // .
        // .
    }

    // reset interrupt flag , int_status byte
    mpuinterrupt = false;
    mpuintstatus = mpu.getintstatus();

    // current fifo count
    fifocount = mpu.getfifocount();

    // check overflow (this should never happen unless our code inefficient)
    if ((mpuintstatus & 0x10) || fifocount == 1024) {
        // reset can continue cleanly
        mpu.resetfifo();
        serial.println(f("fifo overflow!"));

    // otherwise, check dmp data ready interrupt (this should happen frequently)
    } else if (mpuintstatus & 0x02) {
        // wait correct available data length, should short wait
        while (fifocount < packetsize) fifocount = mpu.getfifocount();

        // read packet fifo
        mpu.getfifobytes(fifobuffer, packetsize);
        
        // track fifo count here in case there > 1 packet available
        // (this lets read more without waiting interrupt)
        fifocount -= packetsize;

        #ifdef output_readable_quaternion
            // display quaternion values in easy matrix form: w x y z
            mpu.dmpgetquaternion(&q, fifobuffer);
            serial.print("quat\t");
            serial.print(q.w);
            serial.print("\t");
            serial.print(q.x, 6);
            serial.print("\t");
            serial.print(q.y, 6);
            serial.print("\t");
            serial.println(q.z, 6);
        #endif


i recommend rtimulib for arduino. state of art , works sensor.

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