code: def rotation_df(ATT):
      '''return the current DCM rotation matrix'''
      r = Matrix3()
      r.from_euler(radians(ATT.Roll), radians(ATT.Pitch), radians(ATT.Yaw))
      return f rotation_df(ATT):
      '''return the current DCM rotation matrix'''
      r = Matrix3()
      r.from_euler(radians(ATT.Roll), radians(ATT.Pitch), radians(ATT.Yaw))
      return r
docs: return the current DCM rotation matrix