It's also illustrated with some 100 photos he took.
In June, he held a photo exhibition in Antananarivo, Madagascar's capital, as a gift to honor its 55th year of independence.
He showcased 100 photos he took in the country, where he served as China's ambassador from 2013 to February.
Yang, born in 1958 in Shanghai, has been a diplomat for 40 years.
Madagascan officials attending the exhibition say Yang's photography shows he has "observant and considerate eyes behind the lens".
Shu, the editor, says the book is an authoritative and accurate account.
"The Chinese are enjoying a better life and becoming world travelers. Guided by the book, I expect Madagascar will become a hot destination for Chinese travelers, because it represents a poetic, mysterious and distant place," Shu says.
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