Compensation centrifugal force in AHRS

[brightproject]

How to compensate for centrifugal forces in flight?
How can you reduce the weight of the accelerometer in the filter when you have
a tilt in a turn?
Almost all coded materials use GPS to compensate for centrifugal forces by measuring the speed of movement.
You can also use airspeed from the barometric sensor.
But I want to implement orientation measurement using only gyroscope and accelerometer, with the addition of a magnetometer.
Why is gravity calculation introduced into the function, which is not used?

Adafruit_AHRS/src/Adafruit_AHRS_Mahony.cpp

Line 279 in 55a9541

grav[0] = 2.0f * (q1 * q3 - q0 * q2);

Coefficients have also been introduced, as I understand noise, but there is no application for them either.

#define twoKpDef (2.0f * 0.5f)     // 2 * proportional gain
#define twoKiDef (2.0f * 0.0f)     // 2 * integral gain

Adafruit_Mahony::Adafruit_Mahony() : Adafruit_Mahony(twoKpDef, twoKiDef) {}
In an article that talks about noise measurement matrix.
But there we are talking about Kalman filtration, and on Majvik it is impossible to compensate for centrifugal forces?