Thank you Nico Aleman:
Chances are, you either have your motor direction or IMU calibration inverted. I would check both to be sure.
First, check motor direction. You can do this by going to AppUI → Controls and using the throttle slider to control the board. Right should be forward, left should be backwards. Alternatively, you can also check by going to RT Data and making sure rolling the motor forwards reads as positive speed/duty cycle and backwards reads as negative speed/duty cycle. You may need to enable negative speed readings in the app for this if you disabled it. If things are swapped in either of these cases, invert your motor direction from what it is currently, under Motor CFG → General → General.
Second, let’s check IMU. Go to the IMU section of the RT Data tab (scroll down, you’ll see a 3D model and IMU readings) and check that when the tail is on the ground, the roll angle is near 0 and the pitch angle is positive 20-30 or so, not negative. If the pitch angle reads as negative, or if the roll Angle reads +/-20 instead of pitch, you need to fix your Orientation Yaw calibration.
Go to the IMU Wizard, do IMU Orientation, skip pitch and roll, and once you get to IMU Yaw, raise the NOSE of the board up about 45°, NOT the tail. If you watched Dado’s 6.0 setup video, raising the tail was a workaround for a bug, but you should now raise the nose like the wizard says to. The offset should normally read as a multiple of 90, specifically +/-180 if is was just a case of Pitch reading as negative and roll being near 0. Though this offset is based on your current value, so if you screwed up bad enough, it may not be haha. Once it’s reading a consistent offset for raising the nose 45°, hit save.
Now, you can confirm that both of these are no longer inverted. Go to the IMU section of the RT Data tab and confirm that when the tail is on the ground, the roll angle is near 0 and the pitch angle is positive 20-30 or so, not negative. And under AppUI → Controls, use the throttle slider and confirm that Right is forward, and left is backwards. If these check out, you should be good to go, but obviously test by hand before getting on the board.
Related: if you do all this and now your speeds are negative: negative values on the RT data screens