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* the y-axis runs sideways, towards the right
* the z-axis runs upwards
* heading roll is a rotation around the zx-axis, where positive is clockwise viewed from above towards the back * pitch is a rotation around the y-axis, where positive is clockwise viewed from towards the left right * roll heading is a rotation around the xz-axis, where positive is clockwise viewed from behind upwards
[[File:heading.jpg|200px]][[File:pitch.jpg|200px]][[File:roll.jpg|200px]]
