The ahrsfilter should give relatively good results without much tuning, but adjusting the parameters always helps. If you are streaming in data from hardware make sure the axes are aligned to what these filters expect. This example shows how.
In R2020b you can use the tune() function on the ahrsfilter or imufilter to optimize the noise parameters.You need recorded sensor data and a recorded ground truth (basically what you think the right output of the filter should be). The tune function will optimize the noise parameters such that the filter output is close to your ground truth given your sensor data.
