Thank you FAE_CA1, As with github issues the beauty lies in formulating out the problem and answering it yourself. If you would have read the original post and tried to understand it, you would have known, that I solved it myself, before you could even copy paste your first"helpful" "answer". Good day. Thank you for emphasizing, what bosch stands for. I will make sure to remember this, next time I need some hardware. Fellow Implementers, please use quaterion to rotation matrix solution to convert into ENU reference frame as described in the edit to the original question. So long and thanks for all the fish.
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