code: def earth_gyro(RAW_IMU,ATTITUDE):
      '''return earth frame gyro vector'''
      r = rotation(ATTITUDE)
      accel = Vector3(degrees(RAW_IMU.xgyro), degrees(RAW_IMU.ygyro), degrees(RAW_IMU.zgyro)) * 0.001
      return r * accef earth_gyro(RAW_IMU,ATTITUDE):
      '''return earth frame gyro vector'''
      r = rotation(ATTITUDE)
      accel = Vector3(degrees(RAW_IMU.xgyro), degrees(RAW_IMU.ygyro), degrees(RAW_IMU.zgyro)) * 0.001
      return r * accel
docs: return earth frame gyro vector