That sounds like the problem with down-facing cases, as described in this issue. I would suggest you experiment with this a bit:
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Test with various inclination angles (from small to large, like 10, 20, 30 then 45 degrees) at launch and see if there are any differences. For me, small angles like 10 or 20 degrees are enough.
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You can also add a debug line into the code, just like this one and see whether the output data, specifically yaw angle, are the same between runs with the same starting angle.
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If you can run ROS (see part 2 in particular), you will have more tools to debug the system, like RViz.
realsense-rosuseslibrealsenseso this issue still applies.