How IMU data update rate and gyro readings are syncronized?

[and-sh]

IMU and cpu have different clock sources. So clock rate of gyro loop and IMU conversion rate will be slightly different. Usually interrupt is used to read new IMU data.
I can not find interrupts in Inav

[DzikuVx]

There is a task running at 4kHz that polls data from gyro.

[and-sh]

So, due to the other noises, the noise that arises from the uncertainty of the digitization time within one cycle does not lead to noticeable consequences?

[DzikuVx]

No, it does not affect anything

[and-sh]

Thank you