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MPU6050 Convert IVS to Quaternions

I have a dilemma for a control system and due to my poor math ability, I cannot solve it despite my days of googling -

I am using Arduino with MPU6050 to get Yaw, Pitch and Roll, which is converted from quaternion (to prevent gimbals from blocking)

This issue has to do with a space where I cannot set the gyro plane with x facing forward, z up / down and y to the left. Instead, I can only set the gyroscope with x down, y looking forward, and z looking right / left. EG Axis (Roll, Pitch, Yaw) Steel (Yaw, Roll, Pitch). I'm trying to convert the quaternion to reflect this change, but have no idea how. I tried adding a quaternion to it, but no luck. Anyone got any ideas on how best to use an IMU mounted this way?

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I may be wrong, but since you rotate the orientation vector (yaw, step, roll) with constant rotation, you don't need to worry about the gimbal lock. You can simply multiply your orientation vector by the corresponding pre-calculated rotation matrix.



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