Magnetometer calibration

Hi, I'm new to the Arduino world, I have this project https://www.youtube.com/watch?v=XeHk2mNYr5A I did exactly the same, but the yaw axis is varying, and I can't hear that I need to calibrate the magnetometer , but I didn't find anything about this calibration, can someone help me. I'm using an Arduino Nano Atmega 328p and a Gy-85 gyroscope module. If anyone can help me I would be very grateful

The best tutorial on magnetometer calibration is this one:

o site principal e o programa nao esta noar

Translated from Portugese by Google Translate:
the main website and the program are not available

Which website, and which program?

o freeimu pra rodar no windows

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