How to calculate roll, pitch and yaw?

[Ronis_BR]

@ufechner7

What is wrong about that?

You defined y = [1, 0, 0], then you asked for a rotation of 30 deg about this vector that is aligned with the X-axis.

@ufechner7

I want to create a test case for this function, so I need to construct the body fixed frame by rotating the reference frame based on given roll, pitch and yaw angles in the first place.

How would you create such a test case (the NED reference frame (three vectors) and roll, pitch and yaw angles are given and you want to create a DCM based on this information)?

Let’s say you want to represent the body attitude with respect to NED using the following angles:

• Roll: 15 deg.
• Pitch: 30 deg.
• Yaw: 45 deg.

Then, angle_to_dcm(deg2rad(45), deg2rad(30), deg2rad(15), :ZYX) will provide that DCM that rotates NED to the body reference frame using the yaw-pitch-roll rotation sequence.