How sensor fusion works? - Simple explanation

Here i have shown how a simple sensor fusion is carried out, I have used a very basic filter called the complementary filter, it gives a good response for a cheap computation, ideal for low power microcontrollers such as the esp32. Full math underneath the fusion: https://imgur.com/a/m8ppLvm Code link: https://github.com/pratikPhadte/ESP32-Flight-controller-/blob/main/test/complementry_filter_webserver/complementry_filter_webserver.ino