IMU Orientation

[shakeebbb]

I am using Lord Microstrain GX5-15. I am trying to be consistent with the frame i.e., to get all of the IMU data in the same frame. I understand that if I put 'frame_based_enu' parameter to true the orientation, accelerometer, and gyroscope data should all follow the reference frame printed on the device label. When I set 'frame_based_enu' to false (default) the accelerometer and gyroscope data is in the reference frame printed on the label but the orientation is not. However, when I set it to true, I get a decrease in acceleration when the device is moved in the positive z direction in the labelled reference frame. My question is, should the 'frame_based_enu' parameter affect linear acceleration and angular velocity data coming out of this package at all in any way?