IMU Frame off

[dvz]

Hello,

According to your website, it seems like the VOXL2 coordinate frame should be FRD. However, on both of our VOXL2s with different SDKs, we get z pointing upwards (IMU telling us -9.81m/s^2).
This holds true for voxl-inspect-imu and the rostopic imu_apps.
Is this a bug? Are we doing something wrong? We are a little confused, as this contradicts your information on your website and in your documentation.
The only topic that seems to be correct is imu_apps_raw. However, there is not documentation on imu_apps_raw at all and it only exists in one of our SDKs.

Thank you.