That’s my post, and it was made a while ago using the original sensor board before the 6-axis pico was available. Here’s a later update of the code that uses the 6-axis pico gyro.
You can leave your pico on the umbrella handle. My code uses the Z-axis, but you might need to change it to use the X or Y axis depending on which way your pico is mounted to the handle. You might not really need to know which way is “up” because the gyro axis of the pico will always be aligned with the umbrella handle.