Thank you for your patience as we are experiencing delays because of our account validation issue.
In general, all of our functions have built-in delays to prevent skipped or dropped commands and messages, but this will vary on the sensor that you are trying to request. The smallest interval we may suggest is usually 50ms for any sensor readings, but I would increase it to prevent package drops because of Bluetooth. The best way to know is by testing. This is the same for any command.
Beyond what is available in our functions guide, we don't give any more advanced tutorials for the kind of project you are thinking of. CoDrone is an educational drone meant to teach introductory programming and may not have the sensor update rate that you are looking for.
You can look into the library when you install the package and implement this yourself if you would like! However, we do not offer any support for these kinds of advanced topics. Maybe someone else on the forum can help you out.