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楼主参考一下MWC文档里面关于传感器方向的内容：
http://www。multiwii。com/faq#How_should_be_the_sensor_axis_directions
要是方向有问题可以改变安装方式或者在config.h里面加入
#define FORCE_ACC_ORIENTATION(X, Y, Z)  {accADC[ROLL]  = -Y; accADC[PITCH]  = -X; accADC[YAW]  = -Z;}
#define FORCE_GYRO_ORIENTATION(X, Y, Z) {gyroADC[ROLL] =  X; gyroADC[PITCH] = -Y; gyroADC[YAW] = Z;}
#define FORCE_MAG_ORIENTATION(X, Y, Z) {magADC[ROLL] = X; magADC[PITCH] = Y; magADC[YAW] = -Z;}
来调整