Physical placement of VOXL2 in quadcopter

[shawn_ricardo]

Hello,

I'm looking to translate the physical VOXL2, from the cg of the drone, along the +X axis by about 15 centimeters.

We see that PX4 has the option to specify this type of transform via EK2_IMU_POS_X,Y,Z parameters.

For implementation, would we simply need to incorporate 1) the physical voxl2 translation
2) the imu_px4 translation between voxl2 and imu_px4 (specified here)

into EK2_IMU_POS_X? Are there any other transforms to include or some steps I've missed / not considered?

Have y'all had experience in running such a setup, where the placement of the FC is not at the CG of the drone? I see that PX4 supports it, but I'm not sure how well it is actually performs.