Newb question: I worked with another autopilot software years ago that allowed the navigation solution (i.e. the solution generated by the EKF) to be mapped to any arbitrary point on the aircraft. Often this would be the CG or somewhere nearby. Will ArduPilot do this for me, or will I have to do it outside?
I notice a lever arm between IMU measuring point and GPS antenna phase centre is already supported by ArduCopter.