P1 = 0.4cos(-21.45) + 0.25cos(75-21.45) = 0.

52

P2 = 0.4sin(-21.45) + 0.25sin(75-21.45) = 0.0548

P3 = 0.2

Pitch = atan2(0,1) = 0

Roll = atan2(0, -1) *pi/180= 180

Yaw = atan2(sin(123.49),cos(123.49)) *pi/180= 123.18