How to indicate the inclination of a drone

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I am trying to Hector mapping .

I use FixHawk and Raspberry pi on my drone. (mavros )

I want to rotating the axis on the map(RVIZ).

and I want to show it's tilt.

But it only moves horizontally. ( only X )

Now I am not using odometry.

So, I'm going to use the FixHawk's IMU Sensor to fix it.

But I don't know how to use the IMU.

I want to know the concrete method.

If I am wrong, tell me another way.