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rpmc

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Heading=040 degrees

Pitch=15 degrees Up

Bank=20 degrees left bank

And then the aircraft “yaws”, or rotates 30 degrees left about its yaw axis.

What are the new Heading, Pitch and Bank angles?

What do the rotation matrices look like that describe this sequence of four rotations, and how are the new attitude angles extracted from the resultant rotation matrix?

Apologies for posting an apparently easy question, but I have been trying for some time and still cannot solve it.