diff --git a/lib/src/components/movement_sensor/client.dart b/lib/src/components/movement_sensor/client.dart
index 55746f97b8..9323dbf32a 100644
--- a/lib/src/components/movement_sensor/client.dart
+++ b/lib/src/components/movement_sensor/client.dart
@@ -92,12 +92,11 @@ class MovementSensorClient extends MovementSensor implements ResourceRPCClient {
   }
 
   @override
-  Future<Map<String, double>> accuracy({Map<String, dynamic>? extra}) async {
+  Future<Accuracy> accuracy({Map<String, dynamic>? extra}) async {
     final request = GetAccuracyRequest()
       ..name = name
       ..extra = extra?.toStruct() ?? Struct();
-    final response = await client.getAccuracy(request);
-    return response.accuracy;
+    return await client.getAccuracy(request);
   }
 
   @override
diff --git a/lib/src/components/movement_sensor/movement_sensor.dart b/lib/src/components/movement_sensor/movement_sensor.dart
index 96e8a632c1..c6904471e7 100644
--- a/lib/src/components/movement_sensor/movement_sensor.dart
+++ b/lib/src/components/movement_sensor/movement_sensor.dart
@@ -11,6 +11,7 @@ class Position {
 }
 
 typedef Properties = GetPropertiesResponse;
+typedef Accuracy = GetAccuracyResponse;
 
 /// MovementSensor reports information about the robot's direction, position and speed.
 abstract class MovementSensor extends Resource {
@@ -42,7 +43,7 @@ abstract class MovementSensor extends Resource {
   Future<Properties> properties({Map<String, dynamic>? extra});
 
   /// Get the accuracy of the various sensors
-  Future<Map<String, double>> accuracy({Map<String, dynamic>? extra});
+  Future<Accuracy> accuracy({Map<String, dynamic>? extra});
 
   /// Get the [ResourceName] for this [MovementSensor] with the given [name]
   static ResourceName getResourceName(String name) {
diff --git a/lib/src/components/movement_sensor/service.dart b/lib/src/components/movement_sensor/service.dart
index 02e6a49af1..d4446f1b4b 100644
--- a/lib/src/components/movement_sensor/service.dart
+++ b/lib/src/components/movement_sensor/service.dart
@@ -37,8 +37,7 @@ class MovementSensorService extends MovementSensorServiceBase {
   @override
   Future<GetAccuracyResponse> getAccuracy(ServiceCall call, GetAccuracyRequest request) async {
     final movementSensor = _fromManager(request.name);
-    final accuracy = await movementSensor.accuracy(extra: request.extra.toMap());
-    return GetAccuracyResponse()..accuracy.addAll(accuracy);
+    return movementSensor.accuracy(extra: request.extra.toMap());
   }
 
   @override
diff --git a/test/unit_test/components/movement_sensor_test.dart b/test/unit_test/components/movement_sensor_test.dart
index d1d4f8c1c4..f780d526e7 100644
--- a/test/unit_test/components/movement_sensor_test.dart
+++ b/test/unit_test/components/movement_sensor_test.dart
@@ -29,9 +29,11 @@ class FakeMovementSensor extends MovementSensor {
   }
 
   @override
-  Future<Map<String, double>> accuracy({Map<String, dynamic>? extra}) async {
+  Future<Accuracy> accuracy({Map<String, dynamic>? extra}) async {
     this.extra = extra;
-    return {'accuracy': 0};
+    return Accuracy()
+      ..positionHdop = 0.0
+      ..positionVdop = 0.0;
   }
 
   @override
@@ -94,7 +96,7 @@ void main() {
 
     test('accuracy', () async {
       final result = await movementSensor.accuracy();
-      expect(result, {'accuracy': 0});
+      expect(result.positionHdop, 0.0);
     });
 
     test('angularVelocity', () async {
@@ -176,7 +178,12 @@ void main() {
       test('accuracy', () async {
         final client = MovementSensorServiceClient(channel);
         final result = await client.getAccuracy(GetAccuracyRequest()..name = name);
-        expect(result.accuracy, {'accuracy': 0});
+
+        expect(result.accuracy, {});
+        expect(result.positionHdop, 0.0);
+        expect(result.positionVdop, 0.0);
+        expect(result.positionNmeaGgaFix, 0);
+        expect(result.compassDegreesError, 0.0);
       });
 
       test('angularVelocity', () async {
@@ -245,7 +252,7 @@ void main() {
       test('accuracy', () async {
         final client = MovementSensorClient(name, channel);
         final result = await client.accuracy();
-        expect(result, {'accuracy': 0});
+        expect(result.positionVdop, 0.0);
       });
 
       test('angularVelocity', () async {