mpu-9250 on the bottom layer

[almaz_1c]

Hi! I am developing my own quadrotor, so I need advice about placing mpu-9250.
There is altimeter and MCU are placed on the bottom layer of crazyflie-2.0.
Is it possible to place mpu-9250 also on the bottom layer of my own pcb?
I need to do that because there is gps antenna will be placed on the top layer.
Will the algorithm Madgwick's work in this case ( when IMU rotated 180 degrees )?

[tobias]

Yes you can place it on the bottom. You "just" need to remap (rotate) the axis which can be a bit confusing as it has to follow the right-hand-rule.