Is there any dependency relative to accel&gyro ODR and filter update rate? about fusion

[xioTechnologies]

The original 2011 Madgwick algorithm is very different to Fusion. This recommendation would not be applicable. You should call the update function at the gyroscope sample rate. You should also configure a sample rate appropriate for the application. 50 Hz is very low.

If you are unsure how the sample rate affects accuracy then I suggest you log data from your application at the highest available sample rate, and then compare the Fusion output for this sample rate with downsampled versions of the same data. You will likely see that sample rates <100 Hz result in significant errors, and sample rates >400 Hz provide diminishing returns.

[Alvedro]

I will test, thank you for your answer.