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.

Used the guide at https://www.xilinx.com/support/documentation/sw_manuals/xilinx14_3/SDK_Doc/reference/sdk_u_cvs.htm