Stabilize Compass With DMP Gyro output

I'm looking for a very simplistic way to stabilize the compass output using the gyro with the MPU-9150. I'm running the DMP so I'm getting the quaternion angles. So basically I can watch the compass value and "yaw" angle. The compass is very jittery, but the gyro is very stable. Running a average on the compass makes it stable, but laggy. I'm working on my own solution, but I thought I could ask here in case some one could refer me to a paper. I need a 1/2 second response time for my application, which isn't asking too much I don't think.

I did find this:
http://www.sciencedirect.com/science/article/pii/S1026309812000144
But I think they are doing way more than what I need.

Any ideas?