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diff --git a/src/lib/mathlib/math/EulerAngles.hpp b/src/lib/mathlib/math/EulerAngles.hpp
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+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Vector.h
+ *
+ * math vector
+ */
+
+#pragma once
+
+#include "Vector.hpp"
+
+namespace math
+{
+
+class Quaternion;
+class Dcm;
+
+class __EXPORT EulerAngles : public Vector
+{
+public:
+	EulerAngles();
+	EulerAngles(float phi, float theta, float psi);
+	EulerAngles(const Quaternion &q);
+	EulerAngles(const Dcm &dcm);
+	virtual ~EulerAngles();
+
+	// alias
+	void setPhi(float phi) { (*this)(0) = phi; }
+	void setTheta(float theta) { (*this)(1) = theta; }
+	void setPsi(float psi) { (*this)(2) = psi; }
+
+	// const accessors
+	const float &getPhi() const { return (*this)(0); }
+	const float &getTheta() const { return (*this)(1); }
+	const float &getPsi() const { return (*this)(2); }
+
+};
+
+int __EXPORT eulerAnglesTest();
+
+} // math
+