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roll and yaw



hello,
well recently i just took over someone's codebase and he uses a lot of rolls
and yaws.
my question is what do these mean. I looked them up in the dictionary but
they did not expelling much.
roll->to move forward on a surface by revolving on a axis or by repeatedly
turning over.
(does this mean he is going forward across the plane? what would he doing if
he was revolving?)
yaw->to turn about the vertical axis.
(which way?)
thanks
akbar A.


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