Sensor offset a la INS_POS1_X, etc

On my setup it’s quite difficult to place the flight controller at the CG. I’m trying to find the parameters that allow me to describe the position offset between the CG and the controller. Ardupilot has INS_POS1_X etc. More details here: Sensor Position Offset Compensation — Copter documentation

Any suggestions?

When I searched I found this thread: CG position input in PX4, but it doesn’t actually list the parameters :confused:

Answering my own question after some digging: