Fix quaternion mapping and allow no_std with num_traits.

[alexbohm]

I'm using the quaternion output from the sensor with an esp32c6 and I noticed that the order of the data is wrong.

If I'm reading the mint docs correctly, the order should be x, y, z, w if building the Quat from an array. I switched to explicitly constructing the Quat so it's clearer how the fields are mapped.

Tested with hardware and now the sensor is reacting how I would expect.

I also had to disable the default features for the num-traits crate so that it would compile for a no_std environment.