This video will show you how to verify proper operation of the IMU for dRehmFlight VTOL before your first flight. It will also show you how to correctly mount the IMU to your aircraft. The code supports the MPU6050 and MPU9250 IMUs and performs all of the required filtering to accurately estimate the orientation. Code is accessed and modified within the Arduino IDE with the Teensyduino add-on.
Verifying proper operation of the IMU is not required, but is highly recommended for first-time setup to ensure the hardware connections are configured correctly. This process should not take more than 10 minutes and serves to help better familiarize you with the code.