How to change the rotation screw to right in Unity?

Question

Android

Hello everyone,
Unity3D uses a left triple, i.e. the left screw is taken as the positive direction of rotation. It so happened that a quaternion with a right triple comes to the Unity input from Android Studio, which is rotated relative to the Unity3D quaternion by an Euler angle (90,0,180).
Question:
What is the correct way to change the screw of rotation so that two quaternions can be combined and compared (to correct for drift)?

Answer 1

I decided to change the axes of Madgwick's quaternions. This is done by simply finding the inverse quaternion.