Hi vamshi,
1.You need to follow the calibration process of accelerometer and gyroscope. For accelerometer calibration: It's the static calibration method. The calibration method is like: (1).Enable the virtual sensor: Accelerometer Calibrated and keep reading our the accuracy. The accuracy is 0 at the beginning. (2).Put the device on a flat table with the +z axis pointing up. (You can also point other directions up firstly. the key point is to calibrate every direction.) (3).After some seconds for step 1, you can then put the +x axis pointing up. (4)Repeat the above step 2 and step 3 for other 4 directions: -x, -z, +y, -y. After a good six-sided calibration described above, the accuracy of the virtual sensor, Accelerometer Calibrated would becomes 3. Otherwise, you have to do the six-sided calibration again, because, maybe you did not put the device on a flat place or the calibration time for each side is too short.
For gyroscope calibration: To calibrate gyroscope signal, keep the device stable for approx. 9-10 seconds. Gyroscope calibration is complete when calibration accuracy becomes 3. As the offset is observed when the device is at rest,
Accuracy is also provided with values 0, 1, 2, and 3 (0 = No calibration; 1 = Low accuracy, calibration process initiated; 2 Medium accuracy for the estimated offsets; 3 Calibration process complete, highest accuracy for the estimated offsets).
2.Do you mean remap sensor axis to your target device coordinate system? If yes, you could refer axis remap example code on github: https://github.com/BoschSensortec/BHy1_driver_and_MCU_solution/blob/master/examples/accelerometer_remapping_example.c
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