@julianoes thanks. There is a picture of sensor coordinate system in Page10 [LSM9DS1 datasheet](http://www.st.com/content/ccc/resource/technical/document/datasheet/1e/3f/2a/d6/25/eb/48/46/DM00103319.pdf/files/DM00103319.pdf/jcr:content/translations/en.DM00103319.pdf). Is it correct?  Here is [PR](https://github.com/PX4/DriverFramework/pull/160) for this. 