RTOSMAN

Hello there i'm working on a project, that i use 10 DOF mpu6050 /HMC5883L/BMP180. i used this code MPU6050_DMP_mag.zip i find it on this page "http://www.i2cdevlib.com/forums/topic/111-arduino-example-sketch-to-read-magnetometer-while-dmp-is-on/" i get all the value of roll pitch and the heading, but the problem is the heading is not comosated. when i did a roll or a pitch the value of the heading change, so i want to fix this prblem, i want the value of heading stay correct event i di a pitch or a roll. thanks i'mo working on autonomous flight so i need the correct value of heading, please helpe