Need quaternion along with raw data

I am using metawear device for one of my projects. I am facing a problem regarding the output I need from it.
Metawear device either gives sensor data or quaternion data only one at a time but in my project I need both sensor(Acc, Gyro, Mag) and quaternion data simultaneously.
So it would be very helpful if you provide me some reference to how you are calculating quaternion using the raw sensor data so that I can get quaternion exactly same as metawear's along with the raw sensors data.

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