D'Angelo's only daughter is in "absolute disbelief and shock" after his death

She wrote on Instagram: "dear daddy, there are no words to describe this immeasurable loss

I'm in absolute disbelief and shock.

"you were my biggest hype man. my protector. my biggest musical inspiration. the kindest and most selfless man and the best father anyone could've ever had. (sic)"

Imani shared a carousel of photos of herself and her father - whose real name was Michael Eugene Archer - over the years.

She continued: "No one will EVER measure up to how brave and strong you are. Till the very end, you made sure to protect me from anything that would scare or hurt me.

"I love you so much Daddy. I wish I had more time to spend with you.

"For you to show me new music, play piano with me to our favorite songs, or to go back and forward about our favorite go to meals.

"You're a one of a kind soul, and I'm so grateful you chose me to be your daughter."

Imani, one of D'Angelo's three children, admitted his death is "breaking her heart into a million pieces".

She said: "I'm not sure how I'll be able to live on without you, but I'll never forget all of your advice and things you've told me on how to get through this life.

"Dad... I miss you more than life and this is breaking my heart into a million pieces. I wish I could hold your hand just one more time.

"I will forever honor you and carry on your legacy Dad. Everything I do will always be for you. I'm gonna miss you and hearing your voice every single day. I'll always be your BabyGirl (sic)"

D'Angelo's devastated family confirmed his death earlier this week.

In a statement to Variety, they said: "We are saddened that he can only leave dear memories with his family, but we are eternally grateful for the legacy of extraordinarily moving music he leaves behind.

"We ask that you respect our privacy during this difficult time but invite you all join us in mourning his passing while also celebrating the gift of song that he has left for the world."