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Hello Steve,

I think it can be very useful for you to use the tum_vision package that gives a more accurate state estimate. In the package documentation ardrone_autonomy says that the odometry depends on the speed and the speed is in meters / seconds, so I think it could be in meters (I used it last year but I forgot the units :c).

A useful suggestion is that the cmd_velocity command is not in meters / second, it is a percentage of the maximum inclination angle in the intuitive reference system, the roll inclination is in linear.y, the pitch is in linear.x and the yaw is in angular.z. I hope this information is useful for you.