Retrieving the corrected linear acceleration, angular acceleration and angular velocity using ahrsfilter in addition to the orientation from sensor's data?

2019 9 30
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Hello,
I am trying to retireve the 3 components of the corrected linear acceleration, angular acceleration, anguler velocity after using the ahrsfilter in addition to the orientation from sensor's data. How could this be achieved?
Many thanks,
K.

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