title: How to update quaternion based on 3d gyro data?
body: <p>I've got an initial quaternion , q0. And I get angular velocity measurments, I integrate the the velocities so I got 3 angles at 50Hz or so. How can make a quaternion based on the 3 angles? I can't just make 3 quaternions, can I?</p>
  
  <p>So to make it clear.</p>
  
  <p>Q.new=Q.new*Q.update(alfa,beta,gamma)</p>
  
  <p>Q.new represents my current orientation in a quaternion, I want to update it by multiplying with a Q.update quaternion. How can I make the Q.update with the angles?</p>
  
  <p>Thanks!</p>