How to set imu sensors rotation Orientation

PX4 Autopilot
1

I reference PX4 Reference Flight Controller Design to layout a new board but when i to set imu rotation ，i have some question？

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it is my imu orientation in matherboard， are the MPU6500 rotation is ROTATION_ROLL_180_YAW_90。and who can tell me the ICM 20602 rotation ？
thanks。
xiaowei！

2

I have the same question. How sensors axis have to be oriented related PX4 coordinate system? What rotation values have to be in example in head of this topic?