Dynamics of Aircraft Flight. Gilles Louis

us use the direct trihedron defined in Figure I.1.

Figure I.1. Direct trihedron

      Thus, the pitch, roll and yaw axes are defined as follows.

       I.1.1. Roll axis

Figure I.2. Roll axis (rotation around the X axis)

       I.1.2. Yaw axis

      Figure I.3. Yaw axis (rotation around the Z axis)

       I.1.3. Pitch axis

Figure I.4. Pitch axis (rotation around the Y axis)