Is there currently code implemented to allow for the flight controller to be mounted away from the Center of Mass? I'm imagining X, Y, and Z parameters somewhere that describe the offset from the COM, and that the flight controller would somehow use this information to account for accelerations in the IMU during rotation.
I know that if you are "close" to the COM, that it usually works "well enough". But I'm wondering if it's already in place somewhere to make it even better for systems where it is impossible or difficult to mount right at the COM.
I didn't find anything in my initial search.