return earth frame acceleration vector from AHRS2

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 * accel