// Create DCMIMU:
let mut dcmimu = DCMIMU::new();
let mut prev_t_ms = now();
loop {
    // get gyroscope and accelerometer measurement from your sensors:
    let gyro = sensor.read_gyro();
    let accel = sensor.read_accel();
    // Convert measurements to SI if needed.
    // Get time difference since last update:
    let t_ms = now();
    let dt_ms = t_ms - prev_t_ms
    prev_t_ms = t_ms
    // Update dcmimu states (don't forget to use SI):
    dcmimu.update_only((gyro.x, gyro.y, gyro.z), (accel.x, accel.y, accel.z), dt_ms.seconds());
    let dcm = dcmimu.to_euler_angles();
    println!("Roll: {}; yaw: {}; pitch: {}", dcm.roll, dcm.yaw, dcm.pitch);
}