I wouldn't say they need to "change" it completely. First of all that would piss off a lot of people that invested in the Wii U with the gamepad, thinking the gamepad was going to be the standard.
What they MAY benefit from however is to shift focus again to the Wiimote, especially motion plus, and revert to using that controller as the default control scheme. The gamepad to me is a neat idea in some ways but strikes me more as an accessory, that should only be used for a select few genres/games, like RPGs, RTS, certain party game/mini game compliations, as well as online stuff like miiverse/netflix streaming/web browsing, etc.. I think Nintendo should try and knock it out of the park with a brand new IP, an epic game that takes full advantage of the wii motion plus, maybe something like a oldschool Zelda or Skyrim style action RPG with a lot of depth but also is accessible to the average gamer. Then when the game becomes a smash hit, you bundle it with a new cheaper console bundle for $250, and try a sort of "relaunch".