The roll, pitch and yaw velocities being output in the IMU coordinate system are the roll, pitch and
yaw velocity values measured by the motion sensor and three-dimensional rotated, multiplicatively
composed, by the mounting offsets entries.
All compositions of three-dimensional rotations are done by first converting the Tait-Bryan angles to
quaternions. Then performing the composition by using quaternion multiplication and finally either
obtaining the angles by the citation above or the rotation matrix.
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