BNO055 is 9-DOF absolute orientation sensor with all the required math inside it:

**Absolute Orientation (Euler Vector, 100Hz)**Three axis orientation data based on a 360° sphere**Absolute Orientation (Quaternion, 100Hz)**Four point quaternion output for more accurate data manipulation**Angular Velocity Vector (100Hz)**Three axis of 'rotation speed' in rad/s**Acceleration Vector (100Hz)**Three axis of acceleration (gravity + linear motion) in m/s^2**Magnetic Field Strength Vector (20Hz)**Three axis of magnetic field sensing in micro Tesla (uT)**Linear Acceleration Vector (100Hz)**Three axis of linear acceleration data (acceleration minus gravity) in m/s^2**Gravity Vector (100Hz)**Three axis of gravitational acceleration (minus any movement) in m/s^2**Temperature (1Hz)**Ambient temperature in degrees celsius

I would love to have a core module with this sensor.