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