# How are yaw and roll connected?

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I'm not quite sure how to describe this problem... I've got an airplane that I want to roll left when it turns left and right when it turns right. The problem is the roll does funky stuff when I change the yaw. For example, say my plane's turning left, well, the Y axis is going to go from 0 to N degrees. At the same time, my Z axis should be rolling left. My problem is that as the Y axis changes, the Z axis starts to go the opposite direction. It's almost as if the Z axis makes like a sin function and rolls from left to right and back again. How are yaw and roll connected? I want the airplane to roll independent of the yaw! I'm not sure what exactly to search for in google and I've never encountered a problem like this in any math class yet. I hope I made my problem clear, if not please tell me.

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It might be that your rotating about the normal axis and not the transformed axis. Remember when your rotatign with yaw then you forward axis also rotates (about which you roll).

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First apply yaw about the transformed up vector which will also apply the transformations to the forward vector. Then apply the roll about the transformed forward vector.

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