If you are interested in what triggered the transformation, have a look at these comments.
The net results are I’m getting perfect data reads at 1kHz sampling and alpf set to 2. And that’s as good as the sensor can possibly provide.
There’s probably some PID tuning to be done that might stop the low-frequency wobbles due to the gyro PID I gain being a bit too enthusiastic. That would then curtail the drift too.
I’ll post more videos if that turns out to be true.