Report MPU6050 Flip Orientation in MPU-6050 6-axis accelerometer/gyroscope (InvenSense) Posted August 2, 2017 Hello, I am a college student working to build a UAV. I selected the MPU6050 as my IMU because it seems to have a pretty substantial community around it. Time to test that! Does anyone know how to invert the orientation of the IMU sensor in order to change its frame from a quadcopter to a UAV? I have attached photos below. I have tried flipping the physical sensor and playing with the offsets but that has not yielded anything useful. I have designed a complicated quaternion attitude controller dependent on the AC orientation and it would be a real pain to have to redo all of my work because of a IMU coding issue. I have the MPU6050 connected to a raspberry pi, which runs the controller, and am using an Arduino Due to control the motors/servos. Any help with this would be greatly appreciated!