[ODE] How to compute local yaw, pitch and roll

[ouille]

Hello,

This is my first post on this mailing, but i read it since a few years.

I use ode, with raydium engine involved in several projects of simulator for
learning courses.

I have a problem, trying to implement a small "flight simulateur" with ode,
i need to have local yaw, pitch and roll of an object (the drone).

Can i extract thoses informations from a quaternion ?

How can i mix information from body rotation ?

Did i have to be scared about gimbal lock ?

Does someone have a small piece of code as example ?

Have a nice day

Jacques.