update doc string to match actual code behaviour.

[c0ffee2code]

Hello,
First of all thank you for such comprehensive and well documented driver implementation !
I took the liberty to correct doc strings which caught my eye as they diverge from actual code behaviour.

1. judging based on euler_conversion method the order inside val is: qr, qi, qj and qk
2. euler_conversion method returns 3-tuple with yaw, pitch, roll only.

[bradcar]

Thanks! I'm Traveling for a few days, but I will take a look soon.

Really appreciate the work!

[c0ffee2code]

I can also offer an implementation of gyro integrated rotation vector.
It is primarily done by Claude Code based on your driver + the Hilcrest specs under my guidance + I manually tested it quite heavily as part of my pet project.
If such contribution (AI + human brain and hands) is okey i would be more than happy to submit another PR. :-)