I have an um7 imu that reports data in the NED frame and is mounted on the robot with x forward it also has a magnetometer.

1. If I transform it to ENU along with magnetometer data can I use this in robot_localization or should I tune something?
2. If I read navsat_transform docs correctly data should be in NED. So should I fuse the NED data with magnetometer with and use that for navsat or is there a better way?