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Please note that the MTi-300 is an Attitude and Heading Reference System (AHRS), which means that it can produce sensor-fused estimates of orientation (Roll/Pitch/Yaw, Quaternion or Rotation Matrix) directly. You can simply use Xsens MT Manager to enable one of those outputs. Unless you have enabled the vru_general filter profile or AHS feature, the Yaw angle output will then be based on the magnetic field directly after you power up the device.

If you are facing magnetic disturbances nearby your sensor then it is also possible to recalibrate the magnetometers of your MTi-300. This will improve the accuracy of your MTi-300's Yaw output, but it will also apply to the calibrated magnetic field data output. For more information on that, please see: https://tutorial.xsens.com/video/magnetic-calibration/