Is there a way other than going through the whole DCM algorithm for just correcting gyro-drift using an accelerometer?
What are you trying to do?
The DCM already corrects for gyro drift using the accelerometers. That's the sole reason for it's existence.
I am trying to decide the cut-off frequency to be used for a complementary filter based on the gyro-drift error that the DCM gives. What I wanted to know is if there's another way to directly use the accelerometer and magnetometer readings to compensate for gyro drift?