Agreed on figuring out - esp. wrt to Quanton where it definitely should not cause an issue.

However, I'm not convinced fabricating fake accel updates is a better solution either.  If we are below Nyquist on the LPF it basically means those new samples aren't really any new information.  The _right_ solution are filters that consume the gyro/accel data asynchronously but that that is going to be less efficient which on an MCU is equally important.

If you have a chance can you throw a counter in and see how frequently that execution path is run on Quanton.