Yaw, pitch and roll angles for an aircraft. Fixed frame xyz has been moved backwards from center of gravity (preserving angles) for clarity. Axes Y and Z are not shown. The convention used here for axis definition would give the name z-y-x to the convention of angles shown

Tait-Bryan angles, convention Z-X-Y, defined statically. View from two different perspectives. At difference from proper Euler angles, the perpendicular of the line of nodes must be used in the static definition