after looking MiniB3D library, i found a way !
rotations have to be converted like this :
QuatToEUler(-w,x,y,-z)
rx-pitch
ry=+yaw
rz=+roll
rotations have to be converted like this :
QuatToEUler(-w,x,y,-z)
rx-pitch
ry=+yaw
rz=+roll
Quaternions Test
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