Convert Quat to Euler Angles?

Should you even be converting from Euler angles? Don't you really just need a function to convert from a Quaternion to Euler angles? (Because of gimbal lock problems, which is what you get with pitches close to +/- 90 degrees).

If so, then this should do it:

ex = ATan( (2* (w*x + y*z  )) / (1-2*(x^2 + y^2)))
ey = ASin( 2* (w*y - z*x))
ez = ATan( (2* (w*z + x*y  )) / (1-2*(y^2 + z^2)))

Where ex is the eular x axis angle (Roll on a gyro), ey is the euler y axis angle (Pitch on a gyro - this is the gimbal that locks - and thus cannot nessecarilly be converted back), ez is the euler z axis angle (yaw on a gyro). For the Quaternion w is the rotation coefficient (the real part) x is the "x orientation" or first imaginary part, y is the "y orientation" or second imaginary part, and z is the "z orientation" or third imaginary part.

I haven't tried if it works, but that's what the math book says as far as I can tell. Gimme a yell if it doesn't work as expected.

Edit: Oh by the way, the textbook example above assumes angles are in radians. I'm too tired to figure out if using degrees is going to make a difference, but my hunch is "probably not".