Pose Estimation From Asynchronous Sensors - Main loop rate vs IMU sensor rate

Hi ,

I'm just exploring pose estimator from asynchronous sensors example and I'm able to run the simulation and also in my controller as well.

I have some question that predict function should be called with IMU sensor data rate or simulation loop rate.

Now in this example simulation loop rate and IMU sensor rate both are same. so if my IMU sensor read rate is 500HZ and EKF looprate is about 100HZ

then where I need to do the changes.