I need help to define in a definitive way to how photoscan defines its Yaw, Pitch and Roll... (the detailed convention)

The only definition I've found on the photoscan manual, is:

"yaw axis runs from top to bottom, pitch axis runs from left to right wing of the drone, roll axis runs from tail to nose of the drone"

I have already seen many posts here, but no one have a satisfatory answer for me

apparently, this guy define the orientation in the same way that photoscan defines:

http://danceswithcode.net/engineeringnotes/rotations_in_3d/rotations_in_3d_part1.htmlWhich is: "Tait-Bryan Euler angle convention using active, intrinsic rotations around the axes in the order z-y-x" (and in a right-handed system)

So:

Yaw is along the Z axis;

Pitch is along the Y axis;

Roll is along the X axis;

(that seems to be in accordance with the definition in photoscan manual)

That can define the Rz,Rx and Ry matrices, respectively, and the composed rotation (R) is defined by:

R = Rz*Rx*Ry

Are those right suppositions?

I want to know if the elemental rotations are defined in the same way thatthey are defined in the first image.

I want to know that if I have a rotation matrix I can extract the angles in the same using the formulas in the second image

Best regards,

Kaue