Updated Flight Controller Code for MPU9250 Since I previously tested and wrote code with a MPU6050 because I physically had the sensor, I now decided to update the code to the new and more advanced MPU9250. Today’s session was mostly about getting the sensory data (Roll, Pitch, Yaw) from the sensor, and I haven’t implemented a PID loop yet, and I’ll focus on that next, as well as implementing the connections from the custom PCB.