@Jeremy-Frederick , If VIO is working, then there is a very high chance that you got the orientation correct 🙂 . If the camera to IMU orientation is off by something like 90 degrees in any direction, VIO is pretty much guaranteed to fail. So if you are getting normal VIO performance, quick initialization, across multiple tests, then I would say that your orientation parameters are correct for VIO.
Please keep in mind that if you flipped the board and if you are planning to fly with PX4, you will need to change the imu rotation params in PX4 (also keep in mind that PX4 is using a different IMU that is connected to the DSP)