#pragma once

/* 欧拉角类型, 顺序 航向->俯仰->横滚 */
typedef struct euler_angle
{
    float yaw;
    float pitch;
    float roll;
} euler_angle_t;


void Euler_ByDcm(const float dcm[3][3], euler_angle_t *euler);

void Euler_ByQuaternion(const float Q[4], euler_angle_t *euler);