Where is the body frame attached?

Hi,

I was wondering where the body frame is attached. I couldn’t find any detailed answer in the official guides or in the forum. Is it at the location of the flight controller or at the center of mass of the UAV? This question arose when looking at the EKF2_IMU_POS_* parameters.

Thank you very much for your help.

Hi,

The EKF2_IMU_POS_* and all other position parameters in the EKF is relative to the CoG of the airframe