Skipping few updates will have the same effect as some polling-induced latencies, isn't it? I.e. after you skipped 10 updates, latency for 11 update will not make any sence.

For latency critical apps, of couse poll() is better, and I use it in mc_att_control to synchronize attitude controller to attitude updates.

Anyway these things can be tested and we can try both options and see if it affects prformance.