AHRS Tuning - which parameters to tune

I am currently trying to implement the ahrs block in simulink into my model. Basically I a have a drone model including the equations of motion, the imu-block to simulate the sensors(linear acceleration, orientation, angular velocity -> coming from the model) and the ahrs block. The yellow curves represent the actual euler angles (phi and theta) coming from the equations of motion and the blue curves are the estimated angles coming from the ahrs-block.

Which parameters should I try to tune to reduce the overshoot?