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You can find this math in my code here: https://github.com/ultimaterobotics/uMyo/blob/main/lsm6ds3.c lines 131-144 (it uses files quat_math.c, .h from the same folder) - there you can also find fusion with accelerometer, zero offset calibration and some other stuff (if you will actually use it - please keep in mind that function for calculation of roll, pitch, yaw angles there likely isn't working the way it should, I took it from someone else's code, didn't like the result, and never used nor debugged it - in my case angles are calculated on the receiver side from quaternion using very different math)