hellp：
I’m confused about that whether INS_POS1 compesation is setted under the Auto_tune. The flight controller of my copter is apart from the c.g about 15cm in x direction. The code of INS_POS compesation is pratical or not？. I know that the IMU located at c.g is better. Unfortunately, the copter has been constructed. I have to tune the PID for better flight ability. Any suggestions?