I'm using the MPU9250, it measures acceleration, magnetometer, gyro, etc. Complementary filter tutorial for this is here, however this tutorial does not have a magnetometer and I do, thus I thought I could eliminate the gyro drift. Seen here:
I've found this post already in which other users state that a magnetometer is required. However, they do not go into much detail (and because it is such an old post I didn't want to bump it).
My other complementary filters are calculated as such:
float angle_x = alpha*gyro_angle_x + (1.0 - alpha)*accel_angle_x;
float angle_y = alpha * gyro_angle_y + (1.0 - alpha) * accel_angle_y;
angle z = yaw
I have my local inclination angle which I have been previously told I need and I also have my magnetometer value.
My question is; How do I combine all my values into an equation for the complementary filter?