Return early with OK when given valid Euler angles

    epsilon = 1e-5f;

    // Euler angles if w == -3

    if ( q.w == -3.0f )

    {

        // We only limit pitch range. Yaw and roll can have any value as they safely wrap around.

    if ( q.w == -3.0f && ( q.y < -90.0f || 90.0f < q.y ) )

        if ( q.y < -90.0f || 90.0f < q.y )

        {

            return IVAS_ERR_INVALID_QUATERNION;

        }

        return IVAS_ERR_OK;

    }

    // For quaternions, check if the norm is close to 1.0

    norm_squared = q.w * q.w + q.x * q.x + q.y * q.y + q.z * q.z;

    if ( epsilon < fabsf( norm_squared - 1.0f ) )

    {