Why need a negative when read acceleration

[superxjm]

The code is： acc_msg->acc << -latestAcc.acceleration.x * GRAVITY, -latestAcc.acceleration.y * GRAVITY, -latestAcc.acceleration.z * GRAVITY;

As the acceleration is represented in body frame (emu frame), why does it need a negative here?

[arenas7307979]

hi, same question