I have BHI260AP+BMM150 but could not get the orienation mapping matrix correct. At present, both heading and pitch (from euler format) are 180 degrees off.
I have attached the target coordinate and sensor placement as below.
The matrix I use for BHI260 is (0,-1, 0,-1, 0, 0, 0, 0,-1)
for BMM150 it is (1, 0, 0, 0, 1, 0, 0, 0, 1)
Am I wrong in those?