code: def rotation2(AHRS2):
      '''return the current DCM rotation matrix'''
      r = Matrix3()
      r.from_euler(AHRS2.roll, AHRS2.pitch, AHRS2.yaw)
      return f rotation2(AHRS2):
      '''return the current DCM rotation matrix'''
      r = Matrix3()
      r.from_euler(AHRS2.roll, AHRS2.pitch, AHRS2.yaw)
      return r
docs: return the current DCM rotation matrix