Raw input and using magnetometer

[talalahsan01]

Hey, i have basically 2 questions related to this crate, the first is should I use raw data from my gyro and accelerometer as input for this crate to receive euler angles or should it be calibrated or changed in some other form.
The second question i had was regarding magnetometer, I read an article related to dcm imu and it said that the angles from this filter can be used with magnetometer and precise yaw angle can be calculated. Can anyone help me regarding that?

[bofh]

Regarding the calibration I would recommend this tutorial as a starting point.

Getting precise yaw would require additional fusion step with this filter.

[talalahsan01]

Regarding the calibration I would recommend this tutorial as a starting point.

Getting precise yaw would require additional fusion step with this filter.

Can you tell me a good way to do this additional fusion step. Or is there any crate or formula for calculating yaw from the output of dcm imu. I have no idea how to implement that fusion step.