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This tool helps visualizing ArduPilots standard rotations, these are used to configure sensor orientations such as AHRS_ORIENTATION. A custom rotation can also be selected and the euler angles entered manually.
The rotation is intrinsic in 321 order. For more information see Computing Euler Angles from Direction Cosines by William Premerlani.
The rotations are shown in forward (blue), right (red), down (green) reference frame as this is what is typically used to show position offsets.