yes, this has not been fully tested here, here are some hints while we investigate here as well:
 only the ArUco and ARtoolkit modules compute the quaternion
 to enable, you do (as it looks like you are doing already):
setpar serstyle Detail
setpar serprec 5
setpar dopose true
 the quaternion can be interpreted as an axis (pointing normal from the marker) and a rotation angle about this axis. Hence you may want to try to convert it to an AngleAxis using the Eigen library if your program is already using it, or check out this link
http://www.euclideanspace.com/maths/geometry/rotations/conversions/quaternionToAngle/
 So, in the D3 message, you get
D3 id x y z w h d q1 q2 q3 q4 extra 

where x,y,z are the 3D coordinates of the center of the marker (in millimeters)
w,h,d are marker size in millimeters (d is always 1mm, w and h are just as you have declared the markerlen ArUco parameter)
q1 to q4 are the quaternion, if you transform it into AxisAngle representation, the axis should tilt as you tilt the marker in front of the camera.
I know we need to make a tutorial about this, will do as soon as we find the time... Thanks for your patience in the meantime and please contribute anything you can find while experimenting.