help where is z axis?

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ekf = EKF(gyr=gyr_data, acc=acc_data) ekf.Q.shape (1000, 4)

i tried : r = math.atan2(2*(wx+yz),1-2*(xx+yy)) p = math.asin(2*(wy-zz)) y = math.atan2(2*(wz+xy),1-2*(zz+yy))

angleR = r180/math.pi angleP = p180/math.pi angleY = y*180/math.pi but angleY are 0 any help will be thanks