The compensation is only partial because ArduPilot can correct the vehicle’s velocity and position estimate but it does not correct the acceleration estimate
Due to space constraints I was thinking of mounting the carrier board at extreme bottom right corner of the Frame but that would introduce these centripetal forces which the code doesnt accounts for
And i was thinking that this could be easily calibrated by having the copter hover at a particular altitude and then twitch in both directions. This way, the exact amount of accelerations introduced due to rotations could be calculated and compensated for.