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Ok, so I managed to solve my problem, although the actual problem was elsewhere. I found that the IMU sensor was mounted correctly, not upside down. However it published orientation quaternion relative to NED coordinate system, so the quaternion was rotated by 180 degrees around x axis when robot faced north and robot localization concluded from it that robot was upside down. There has been an attempt to calculate the quaternion relative to ENU coordinate system in microstrain_3dm_gx5_45 package, but the calculation is wrong in the package and I finally used one of the forks of the package repository that fixes the problem
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