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 see those parameters, but I don’t see where in the code they are utilized. Is this feature implemented yet, or is it still in development? Could you point me to the right place in the code? I just see the values being pulled from the parameter and put in _params->imu_pos_body, but then nothing in the code uses that params variable.