Midi Controller with IMU

Hi there,

I'm building a music controller, which allows you to control certain musical parameters with the orientation of the controller.

To avoid the problem of Gimbal Lock, I computed the orientation of my device with quaternions. My question now is simple: Other than converting to Euler angles (which will again give me gimbal lock problems), how do I get some useful numbers out of the quaternion representation of orientation, which allow me to map them to musical parameters?

Thanks for your help!