\mynote{This is only for the 321-convention}
The rotation matrix from euler angles is known
\begin{equation}
\mat R_m = \begin{pmatrix}
cos(\Pitch)cos(\Yaw)									& cos(\Pitch)sin(\Yaw)									& -sin(\Pitch)			\\
sin(\Roll)sin(\Pitch)cos(\Yaw) - cos(\Roll)cos(\Yaw)	& sin(\Roll)sin(\Pitch)sin(\Yaw) + cos(\Roll)cos(\Yaw)	& sin(\Roll)cos(\Pitch)	\\
cos(\Roll)sin(\Pitch)cos(\Yaw) + sin(\Roll)sin(\Yaw)	& cos(\Roll)sin(\Pitch)sin(\Yaw) - sin(\Roll)cos(\Yaw)	& cos(\Roll)cos(\Pitch)
\end{pmatrix}
\end{equation}
and the extraction is done vice versa.
\begin{equation}
\eu e = \begin{pmatrix}\Roll \\ \Pitch \\ \Yaw \end{pmatrix} = 
\begin{pmatrix}
\arctan2(r_{23}, r_{33}) \\
-\arcsin(r_{13}) \\
\arctan2(r_{12}, r_{11})
\end{pmatrix}
\end{equation}
\inHfile{INT32\_EULERS\_OF\_RMAT(e, rm)}{pprz\_algebra\_int}
\inHfile{FLOAT\_EULERS\_OF\_RMAT(e, rm)}{pprz\_algebra\_float}
