Quadcopter pins:

front left		front right
Arduino=3		Arduino=10
PD3			PB2
Mong: 3			Mong=10

rear left		rear right
Arduino=11		Arduino=9
PB3			PB1
Mong: MOSI		Mong=9

When programming pins facing forwards:

  #define GYRO_ORIENTATION(X, Y, Z) {imu.gyroADC[PITCH] = -Y; imu.gyroADC[ROLL] =  -X; imu.gyroADC[YAW] = -Z;}
  #define ACC_ORIENTATION(Y, X, Z)  {imu.accADC[PITCH]  =  Y; imu.accADC[ROLL]  =  -X; imu.accADC[YAW]  =  Z;}
  #define MAG_ORIENTATION(X, Y, Z)  {imu.magADC[PITCH]  = -X; imu.magADC[ROLL]  = Y; imu.magADC[YAW]  = -Z;}