Testing IEKF with own data

[FD04]

I am very impressed of the code and the article and would therefore like to try out the provided the IEKF with own IMU data.

I have already tried to use the filter myself in various ways with my own IMU data, but failed miserably to execute the filter. Does anyone have a small example of how I can generally make the filter work with my own IMU data? It would be very grateful if someone could post the script and explain it briefly.