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I have roll, pitch and yaw values in an ENU frame.

How can I convert it into a NED frame?

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ENU = East, North, Up

NED = North, East, Down

So, if you have x_ENU, y_ENU, and z_ENU, then:

x_NED = y_ENU;
y_NED = x_ENU;
z_NED = (-z_ENU);

This is like saying North = North, East = East, and Down = (-Up)

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