code: def earth_accel2(RAW_IMU,ATTITUDE):
      '''return earth frame acceleration vector from AHRS2'''
      r = rotation2(ATTITUDE)
      accel = Vector3(RAW_IMU.xacc, RAW_IMU.yacc, RAW_IMU.zacc) * 9.81 * 0.001
      return r * accef earth_accel2(RAW_IMU,ATTITUDE):
      '''return earth frame acceleration vector from AHRS2'''
      r = rotation2(ATTITUDE)
      accel = Vector3(RAW_IMU.xacc, RAW_IMU.yacc, RAW_IMU.zacc) * 9.81 * 0.001
      return r * accel
docs: return earth frame acceleration vector from AHRS2