--Changed run-imu.cpp (executable) and razor-imu.cpp (function libraries) to support running the IMU in continuous output mode and having the Gumstix loop on a listen.  This worked extremely well.  In two runs (~1100 and ~3000 IMU samples, respectively), I was able to measure (using the clock on the IMU) the interval between each sample was either 20 or 21 ms (50 or 47.6 Hz).  The average interval was 20.48 ms with a standard deviation of 0.50 ms.  I also observed that there was significant drift between the Gumstix clock and IMU clock (Gumstix measured intervals ranged between 9 and 31 ms, although the average was close, 20.72 ms), so this confirmed that using the IMU clock for the integration interval is the better way to go.  Wit the IMU clock, the interval nearly alternates between 20 and 21 ms, so I think it's safe to use 20.5 ms as a fixed integration time (realizing that to minimize my floating point multiplies, I'll probably need to multiply that interval by 10 and then just divide the result by 10 when reporting the data).