I’m using GLOBAL_POSITION_INT to determine the vehicle’s position. I understand this data is fused from several sources (multiple GPS units, if present, accelerometer, barometer, possibly others). Unfortunately, that message doesn’t include accuracy information.
Messages like GPS_RAW_INT and GPS2_RAW do include accuracy info, but it seems wrong to rely on that because the accuracy of the fused result could be higher than the accuracy of any specific GPS.
So, how do I get the accuracy of the fused position? Maybe ESTIMATOR_STATUS?