Returns rotated quaternion
  :param attitude: quaternion [w, x, y , z]
  :param roll: rotation in rad
  :param pitch: rotation in rad
  :param yaw: rotation in rad
  :returns: quaternion [w, x, y , z]

def rotate_quat(attitude, roll, pitch, yaw):
  '''
  Returns rotated quaternion
  :param attitude: quaternion [w, x, y , z]
  :param roll: rotation in rad
  :param pitch: rotation in rad
  :param yaw: rotation in rad
  :returns: quaternion [w, x, y , z]
  '''
  quat = Quaternion(attitude)
  rotation = Quaternion([roll, pitch, yaw])
  res = rotation * quat

  return res.q