Ekf3: sensors provide body offset #18242
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This PR is a result of this 4.1.0-beta discussion with Yuri_Rage.
We seem to have a discrepancy between our sensor position offset wiki and the EKF3 (and EKF2) implementation.
The relevant part of the wiki description is here
In practice the distance to the sensor can be measured from the center of the autopilot unless the autopilot itself is placed a significant distance from the vehicle’s center of gravity in which case the IMU position offsets can be specified and then the other sensor’s position offsets can be specified from the vehicle’s center of gravity.
..but the "bodyPosOffset" calculations for the various sensors always also include the IMU offsets which, according to the description above, they should not. If we move the IMU on the vehicle we shouldn't then also have to update every sensor's position as well should we?
I suspect either way works but either the docs or the code should probably be fixed.