Rotate with raw gyro data.

So I have t$$anonymous$$s code that I get from my phone's raw gyro data:

 public class IMU : MonoBehaviour {
 
     [Range(0,1)]
     public float a;
     public static Vector3 angularVelocity,accel;
     public static double Roll, Pitch, Yaw;
 
     private float LSB = 131;//LEAST SIGNIFICATN BIT
     public double aRoll, aPitch, magX, magY, time;
     private UDPClient server;
     private static Vector3 transition;
 
     // Use t$$anonymous$$s for initialization
     void Start () {
 
         server = FindObjectOfType<UDPClient> ();
         transition  = angularVelocity = accel = Vector3.zero;
         Roll = Pitch = Yaw = 1;
         aRoll = aPitch = 0;
         magX = magY = 0;
         time = 0;
     }
     
     // Update is called once per frame
     void Update () {
 
         double t = Time.time;
         if(server.IsActive()){
 
             Vector3 m = Transmitter.magnetometer.normalized;
             angularVelocity = Transmitter.gyroscope/131;
             accel = Transmitter.accelerometer;
 
 
             aRoll = Math.Atan2 (accel.x,accel.z);
             aPitch = Math.Atan2 (accel.y,accel.z);
 //            aRoll = Math.Atan(accel.y/(Math.Sqrt(accel.x*accel.x + accel.z*accel.z)));
 //            aPitch = Math.Atan(-accel.x/(Math.Sqrt(accel.y*accel.y + accel.z*accel.z)));
 //            print (aRoll + "  " + aPitch);
 
             if (double.IsNaN(Roll) || double.IsNaN(Pitch)) {
                 Roll = 1;
                 Pitch = 1;
             } 
             else {
                 Roll = a * (angularVelocity.x * time + Roll) + (1 - a) * aRoll * Mathf.Rad2Deg;
                 Pitch = a * (angularVelocity.y * time + Pitch) + (1 - a) * aPitch * Mathf.Rad2Deg;
             }
 
             magX = ( m.z * Math.Sin(Roll) ) - ( m.y * Math.Cos(Roll) );
             magY = ( m.x * Math.Cos (Pitch) ) + ( m.y*Math.Sin(Pitch) * Math.Sin(Roll) ) + ( m.z * Math.Sin(Pitch) * Math.Cos(Roll) );
 
             Yaw = Mathf.Rad2Deg * (Math.Atan ( magX/magY ));
 
             print (Roll + " " + Pitch + " " + Yaw);
 
 //            transform.Rotate (new Vector3((float)Roll,(float)Pitch,(float)Yaw));
 //            transform.rotation.eulerAngles = new Vector3 ((float)Roll, (float)Pitch, (float)Yaw);
 //            transition = Vector3.Lerp (transition,new Vector3((float)Roll,(float)Pitch,(float)Yaw),Time.deltaTime*1);
 //            transform.eulerAngles = new Vector3 ((float)Roll, (float)Pitch, (float)Yaw);
 //            transform.rotation = Quaternion.Euler (new Vector3((float)Roll,(float)Pitch,(float)Yaw));
             print(Quaternion.Euler(new Vector3 ((float)Roll, (float)Pitch, (float)Yaw)));
         }
         time = Time.time - t;
     }
 }

and the Roll/Pitch/Yaw angles make sense, but the problem comes when I try to rotate the object using those angles. I'm familiar with the gimbal lock problem that comes with Euler angles, but not familiar with Quaternions though. My object currently rotates like crazy, just spinning very rapidly. Is there ay way I can rotate my object with those angles?

• I can't use gyro.attitude, since I am not actually running the app on the phone, I'm just sending data using an UDP stream.

Any suggestions on how to calculate Roll/Pitch/Yaw from raw gyro/accelerometer data?

Thank you very much in advance.