Complementary Filter Math

In the video, you saw the following equation for the estimate \hat{\theta}_t:

\hat{\theta}_t = \frac{\tau}{\tau + T_s} \left( \hat{\theta}_{t-1} + T_s z_{t,\dot{\theta}} \right) + \frac{T_s}{\tau + T_s} z_{t,\theta}

The exact same math applies to \hat{\phi}_t:

\hat{\phi}_t = \frac{\tau}{\tau + T_s} \left( \hat{\phi}_{t-1} + T_s z_{t,\dot{\phi}} \right) + \frac{T_s}{\tau + T_s} z_{t,\phi}