Configuring a new project using the sensor fusion library - Overdrivr/FRDM-Quadcopter GitHub Wiki
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Download the sensor fusion library for Kinetis MCUs from Freescale's website
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Run the executable and install it (it's actually only decompressing files in a folder). Choose a path without special characters.
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Open CodeWarrior. File -> Import. In the "General" (?) section, choose "existing project" (?). Go to the folder where you installed/decompressed the executable and select the folder CodeWarrior/FRDM_KL26Z (or the one associated with the name of your board if not using KL26Z).
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Right click on ProcessorExpert->Generate Processor expert code
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Your project is ready. Return to Freescale's page, and go to the Online training (middle column at the bottom). Register then read the powerpoint, which is stuffed with good information.