Description:

The coordinate system is right hand rule. X cross Y gives Z and Roll is right hand rule about X, Pitch is right hand rule about Y, and Yaw is right hand rule about Z.

Vector Storage:

All linear three vectors store their values as [X, Y, Z].
All angular three vectors store their values as [Roll, Pitch, Yaw].

The angular velocity is calculated using the current euler angles and the euler angle rates.
 

SimRealVar EulerRates[3] - Euler Angle Rates (rad/sec)
SimRealVar EulerAngle0 - Euler Angle Roll (rad)
SimRealVar EulerAngle1 - Euler Angle Pitch (rad)
SimRealVar EulerAngle2 - Euler Angle Yaw (rad)
 

SimRealVar LocalAngVel[3] - Local Angular Velocity (rad/sec)
 

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