Bug in `rpy2q` function

[adrian-soch]

Hi, in the rpy2q function, the documentation uses the order roll, pitch, yaw. https://github.com/Mayitzin/ahrs/blob/48ed893b0ef7e3c54bb8c3764aff960d007dc7b4/ahrs/common/orientation.py#L761

However, the function unpacks the array as yaw, pitch, roll.

https://github.com/Mayitzin/ahrs/blob/48ed893b0ef7e3c54bb8c3764aff960d007dc7b4/ahrs/common/orientation.py#L776

This is confusing, either the documentation should be updated, or the function should be

roll, pitch, yaw = angles