From what I understand, mounting the flight controller level with the props is ideal for control (the gyro axes are closer to the vehicle control axes). Would the flight controller handle alright if I offset it a bit by mounting it underneath the quad?
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That should work because the FMU is supposed to be as close to the center of mass of the drone as possible. There are parameters available in PX4 for an IMU position offset within the body frame, but you will probably not need them.
However, you will have to find a solution for the vibration damping when you put the FMU underneath.
That should work because the FMU is supposed to be as close to the center of mass of the drone as possible. There are parameters available in PX4 for an IMU position offset within the body frame, but you will probably not need them.
However, you will have to find a solution for the vibration damping when you put the FMU underneath.