An Android App was created with which the user can activate Bluetooth, pair and connect with the device. By click on "Simulate" a virtual 3D plane is drawn that can be moved and rotated by the controller.

As can be seen in the video above (in description), corrected roll and pitch are fairly accurate while yaw angle has some drift. Meanwhile integration of translatory acceleration is not very accurate right now. These issues could be solved by using a 9 axes IMU rather than 6 axes.

The code can also be found in the Github repository.