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In the 2.0 code, try this:
Reverse IR sensor-old code-return constrain((int)(((infrared0-511)*90)/max_ir),-60,60);
new code-return -constrain((int)(((infrared0-511)*90)/max_ir),-60,60);
Reverse IR sensor pitch-old code-return -constrain((int)(((infrared1-511)*90)/max_ir),-60,60);
new code-return constrain((int)(((infrared1-511)*90)/max_ir),-60,60);
Just reverse the sign in front of "constrain".
I was having a problem to with the settings in the new code. But Chris explaned what you must change is this topic:
http://www.diydrones.com/profiles/blogs/settings-you-can-change-in-the
Says whether a Z sensor is present or not. [Note: autopilot will not properly calibrate without one]
#define SENSOR_Z 1
[Says whether the FMA sensor is pointed forward or backwards]
#define REVERSE_X_SENSOR 1 //1 = cable behind, 0 = cable front
[If your servos are reversed set these to 1 instead]
#define REVERSE_ROLL 0 //To reverse servo roll
#define REVERSE_PITCH 0 //To reverse servo pitch
remember that 2.1 needs a Z sensor to work well!!
#define REVERSE_ROLL 0 //To reverse servo roll
#define REVERSE_PITCH 0 //To reverse servo pitch