Flight controller placement impact on IMU readings

PX4 Autopilot Configuration & Flight Modes ⚙️
1

Hello, I am working on an unconventional VTOL vehicle, with the flight controller located on the outer body rather than in the center of the airframe. I know that placing the IMU away from the center of gravity impacts the accelerometer readings the further away that distance is. I was wondering if there exists a compensation/transformation for this in the autopilot software? Thank you

2

Yes, you need to set the
EKF2_IMU_POS_X
EKF2_IMU_POS_Y
EKF2_IMU_POS_Z
parameters to the position of the IMU relative to the vehicle CoG.

3

Excellent, thank you very much for your help!