C2INAV — Rotation should be about the centre of rotation not the platform reference point

Rotations should be measured relative to the centre of rotation - otherwise actual rotational motion has to be described by additional translational motion, leading to a more complicated description of motion than is necessary.

Describe Rotation Relative to the Center of Rotation

The descriptions of pitch, roll, yaw and their respective rates is with reference to the platforms reference point. In the case of these attributes it should be with reference to the center of rotation, which is not necessarily the same.