APM DCM axes convention

Hi all,

I'm a bit messed about the axes orientation used in the DCM code implementation in ardu/pilot/plane/copter code.

Regarding to datasheet :

MPU6000 is right handed with Z axis pointing up (on the component view) ?

HMC5883L is left handed with Z axis pointing down (on the component view)?

On the arduimu picure, I believe there is an error in the MPU axes representation, regarding to datasheet, is that true ?

But what about the DCM code implementation ?

Is it a right handed system ? If true is it a NED system (North-East-Down) ?

About the euler angles in the DCM code : 

Roll is around x axes ?

Pitch is around y axes ?

Yaw is around z axes ?

Thanks in advance for your answers

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