Fork from inav at github. Modified for some special functions needs.
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#Notes

Expected acc/mag/gyro behavior

Observations of a flight-tested flip32 board in the configurator's 'raw sensor data' tab.

lift front of board (i.e. pitch back) gyro y increases (green) acc x increases (blue) acc z decreases (red) mag x decreases (blue)

lift left of boar (i.e. roll right) gyro x increases (blue) acc y increases (green) mag y decreases (green) mag z increases (red)