I’ve read on other forums that the ESCape IMU did not work with the firmware. I checked mine and so was the case. The ESCape controller did not find the MPU, I did my troubleshooting and i got it working!
Here is the fix for the problem:
You need jumper wires (Black between the points shown in the picture)
And cut the copper wire on the PCB thats marked with red
Heres how it looks on mine.