sensor parameters in Simulink AHRS Block

Hi

I am using Support package for android and importing raw sensor data.

I want to use AHRS block to fuse accelorometer, gyro and mag sensor data to get the real time attitude of the vechile.

I used the default example of IMU fusion with the default paramters for AHRS block. but the attitude I get from it is not true.

I think it is because parameters in block setting is not correct... such as sensor drift, noise, bias, ...

How can I get this paramters for my own custom sensor? Is there a manual or example for that?