APM Euler Convention

Hi,

I am trying to develop a rotation matrix from the roll, pitch, and yaw values returned from the telemetry data. However, I am having trouble finding any documentation on what type of Euler angle convention APM:Rover uses (e.g. Proper Euler vs. Tait-Byron). Can anybody shed some light on this issue for me?

I believe it was based off this:
gentlenav.googlecode.com/files/EulerAngles.pdf
Thanks, Grant