This is a question about the ideal orientation not about all possible orientations. There was some discussion by my team about what the instructions from the kauai labs site actually meant. This is the text:
http://www.pdocs.kauailabs.com/navx-...orientation-2/
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The default navX-MXP circuit board orientation is with the navX-MXP logo on the Rear Left, with the top of the circuit board pointing up (with respect to the earth).
Since Body Frame and Board Frame coordinates should be aligned, and because the Yaw axis must be aligned with gravity, by default you must orient the navX-MXP with the top of the board facing up, and with the Y axis (on the circuit board) pointing to the front of the robot."
I think trouble my team was having was how they visualize the rio with respect to the robot. From how we interpret this instruction in an ideal configuration the rio should be parallel with the ground and the Y axis graphic on the navX MXP board should be pointing to the front of the robot. I hope someone from Kauai Labs would be gracious enough to post and actual picture of how they are orienting their NavX Devices on one of their test robots. It would be helpful to clear up ambiguities or misunderstandings. Thank you.