AHRS / C of G
This is probably one of those design secrets at the likes of Garmin and Avidyne.
How does the AHRS unit (thinking DA42) compensate for its distance from the C of G, when calculating the attitude of the aircraft. It would be easy if the C of G was at a fixed station but it's not.
If someone has the answer I would be very pleased and you could also consider yourself a tech geek!