The transformation is given by
\begin{equation}
\quat{} = [\cos \tfrac{\Yaw}{2} + \mathbf{k} \sin \tfrac{\Yaw}{2}][\cos \tfrac{\Pitch}{2} + \mathbf{j} \sin \tfrac{\Pitch}{2}][\cos \tfrac{\Roll}{2} + \mathbf{i} \sin \tfrac{\Roll}{2}]
\end{equation}
In matrix notation:
\begin{equation}
\quat = \begin{pmatrix}
\cos \tfrac{\Roll}{2} \cos \tfrac{\Pitch}{2} \cos \tfrac{\Yaw}{2} + \sin \tfrac{\Roll}{2} \sin \tfrac{\Pitch}{2} \sin \tfrac{\Yaw}{2} \\
\sin \tfrac{\Roll}{2} \cos \tfrac{\Pitch}{2} \cos \tfrac{\Yaw}{2} - \cos \tfrac{\Roll}{2} \sin \tfrac{\Pitch}{2} \sin \tfrac{\Yaw}{2} \\
\cos \tfrac{\Roll}{2} \sin \tfrac{\Pitch}{2} \cos \tfrac{\Yaw}{2} + \sin \tfrac{\Roll}{2} \cos \tfrac{\Pitch}{2} \sin \tfrac{\Yaw}{2} \\
\cos \tfrac{\Roll}{2} \cos \tfrac{\Pitch}{2} \sin \tfrac{\Yaw}{2} - \sin \tfrac{\Roll}{2} \cos \tfrac{\Pitch}{2} \sin \tfrac{\Yaw}{2}
\end{pmatrix}
\end{equation}
\inHfile{INT32\_QUAT\_OF\_EULERS(q, e)}{pprz\_algebra\_int}
\inHfile{FLOAT\_QUAT\_OF\_EULERS(q, e)}{pprz\_algebra\_float}
\inHfile{DOUBLE\_QUAT\_OF\_EULERS(q, e)}{pprz\_algebra\_double}
