Added getQuaternion()

[ProExpertProg]

Added getQuaternion() - a function that returns the quaternion. This is necessary for advanced usages (kalman filtering).

[pnaybour]

When do you think this will be merged in to the main branch.

[PaulStoffregen]

Probably never. I'm no longer maintaining this library (I no longer even have access to do so). Every appearance is nobody else has taken up the maintainer role. Unless someone from Arduino steps up to become a maintainer for this library, seems unlikely anything well ever be merged.

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