diff --git a/msg/estimator_status.msg b/msg/estimator_status.msg
index 9dea01893d..85c0d76e71 100644
--- a/msg/estimator_status.msg
+++ b/msg/estimator_status.msg
@@ -45,3 +45,5 @@ uint16 filter_fault_flags	# Bitmask to indicate EKF internal faults
 # 12 - true if fusion of the North position has encountered a numerical error
 # 13 - true if fusion of the East position has encountered a numerical error
 # 14 - true if fusion of the Down position has encountered a numerical error
+float32 pos_horiz_accuracy
+float32 pos_vert_accuracy
\ No newline at end of file
diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
index 9eb2d3a5f5..cdbf7e99f8 100644
--- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+++ b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
@@ -726,6 +726,9 @@ void BlockLocalPositionEstimator::publishEstimatorStatus()
 		+ (_sonarInitialized << SENSOR_SONAR)
 		+ (_visionInitialized << SENSOR_VISION)
 		+ (_mocapInitialized << SENSOR_MOCAP);
+	_pub_est_status.get().pos_horiz_accuracy = _pub_gpos.get().eph;
+	_pub_est_status.get().pos_vert_accuracy = _pub_gpos.get().epv;
+
 	_pub_est_status.update();
 }
 
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index 917abf2594..56a60ba3e4 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -1702,9 +1702,13 @@ protected:
 
 		if (_est_sub->update(&_est_time, &est)) {
 
-			// To be added and filled
-			// mavlink_estimator_status_t msg = {};
-			//mavlink_msg_statustext_send_struct(_mavlink->get_channel(), &msg);
+			mavlink_estimator_status_t est_msg = {};
+
+			est_msg.time_usec = est.timestamp;
+			est_msg.pos_horiz_accuracy = est.pos_horiz_accuracy;
+			est_msg.pos_vert_accuracy = est.pos_vert_accuracy;
+
+			mavlink_msg_estimator_status_send_struct(_mavlink->get_channel(), &est_msg);
 
 			mavlink_vibration_t msg = {};