code: def earth_accel_df(IMU,ATT):
      '''return earth frame acceleration vector from df log'''
      r = rotation_df(ATT)
      accel = Vector3(IMU.AccX, IMU.AccY, IMU.AccZ)
      return r * accef earth_accel_df(IMU,ATT):
      '''return earth frame acceleration vector from df log'''
      r = rotation_df(ATT)
      accel = Vector3(IMU.AccX, IMU.AccY, IMU.AccZ)
      return r * accel
docs: return earth frame acceleration vector from df log