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To me it seems like the orientation of the lsm9ds1 IMU sensor is 180 degrees (bottom up) rotated on the Birch board. @eric.kuzmenko is that so?

test:

sudo apt install iio-sensor-proxy

reboot

monitor-sensor

move the phone and compare with what's printed.

haven't done that, but if so, I guess we need to describe that properly in Linux ( iio mount_matrix support ?) and/or systemd ( https://github.com/systemd/systemd/blob/master/hwdb.d/60-sensor.hwdb )