Hi @fusari, apologies for the delay on getting back to this.
Hopefully this comment clears up what is reasonable to expect with just IMU data. Position estimation without an external reference is not expected to work for a meaningful length of time without very high precision and frequency sensors.
I’m not sure what you mean by this. In your previous comment you were extracting the accelerometer values from RAW_IMU messages. If you’re reading messages regularly (e.g. by waiting for vehicle heartbeats, or specific messages) then the master.messages dictionary will be kept updated by pymavlink, in which case you should be able to do XACC = master.messages['RAW_IMU'].xacc, and so forth.