It turns out that the motors and IMU were actually not flipped around, I had a naming bug in the block design that made a bunch of things look wrong, and the direction plate was flipped (velcro got removed and re-attached).

It takes off mostly straight, but doesn't stay stable. It's hard to say if this is beacuse of tuning issues, or a setup problem.

The code runs on the board, PWM is generated out (value unverified) but the I2C sensors are not attached, so there code fails quickly after that.