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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!

Hi, everyone, I'm making a college project that consists in a quadcopter with Arduino. I'm trying to use MPU-6050 to balance it. I've already read about this sensor and done a complementary filter to combine the effects of the accelerometer and gyroscope. It worked nicely, and I'm using Processing to manage it. However, I still have no idea about how to use this combinated data to balance the quadcopter's motors. I've tried to do a simple test: if the quadcopter inclines at least 15 degrees to some side, motor(s) of the opposite side stops. This is a very bad solution, of course. Also, as the quadcopter vibrates, the MPU's accelerometer vibrates too, forcing the combinated data (angle of MPU) to be very different from the real angle. I found lot of stuff about making a filter, but couldn't find much stuff about balancing a quadcopter with MPU. So, I would appreciate every single help! Sorry about my English, this is not my natural language. Thanks!