Gyro data from AltIMU-10 v3

I have an AltIMU-10 v3. I am trying to work with quaternions and Euler angles. One way to find the quaternions is using gyro data with a good initialization (q0). We can find the quaternions by solving this formula " qdot = 0.5 * [skew-symmetric matrix of gyro] * q ". But do you know what is the easiest way to find the proper gyro data and fit it in that formula? Is there any code that I can use? I would appreciate if you can help me out.

Discussed elsewhere on line, for example: