Quad COG or how well balanced?

Hi All,  ( Quad PixHawk   FW 3.3.3    MP 1.3.37)

Is there a method one can use to determine a craft's COG state, or how

well the craft is balanced?

 I am not sure if this is documented somewhere?

   If so, please point me to the correct info?

I was thinking, that during a windless stable Hover state, theoretically the 4x motors (Quad Config) should exert the same power, or RPM, approximately, in a well-balanced craft.

If 1 or 2 motors labour exessively more than the others, it may indicate the craft's COG

is  'off' or at least 'out-of-balance'.  This is now assuming that motors/props etc are 'good' of course.

In 3.3.3, are there any flight-params/stats in DF telem-log file which one can use to evaluate this

doing a stable Hover ( in Alt_H?) in a windless environment, eg sports hall,  after the flight.

Thank you for your valuable comments and suggestions.

Regards,

Gerhard

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