code: def convert_body_frame(self, phi, theta, phiDot, thetaDot, psiDot):
          '''convert a set of roll rates from earth frame to body frame'''
          p = phiDot - psiDot*math.sin(theta)
          q = math.cos(phi)*thetaDot + math.sin(phi)*psiDot*math.cos(theta)
          r = math.cos(phi)*psiDot*math.cos(theta) - math.sin(phi)*thetaDot
          return (p, q, rf convert_body_frame(self, phi, theta, phiDot, thetaDot, psiDot):
          '''convert a set of roll rates from earth frame to body frame'''
          p = phiDot - psiDot*math.sin(theta)
          q = math.cos(phi)*thetaDot + math.sin(phi)*psiDot*math.cos(theta)
          r = math.cos(phi)*psiDot*math.cos(theta) - math.sin(phi)*thetaDot
          return (p, q, r)
docs: convert a set of roll rates from earth frame to body frame