This is strictly not aviation related so please feel free to move it to the correct section.
I have a 9 axis IMU, which gives me yaw, pitch, roll, magnetics, gyros, accels etc.
I currently make use of the roll, pitch and yaw (true) however I want to learn how to use the rest of the data. I know that the raw magnetometer data can be used to judge when the true yaw is not accurate enough and even correct it. I'm reading up more on that subject at the moment.
However what I can't find much resources on is on how to make use of linear acceleration and angular acceleration. I have successfully converted the data from raw units to g/s.
How do I obtain the acceleration of my craft with the data?