Have an architect draw it up then get as many quotes as you can for construction. If it is, say 800 sq ft @ $500/sq foot that is $400,000. Can you rent it for $4,000/mo? If so, proceed. Keep in mind the impact on the primary home - noise, parking, etc. Or are you planning to live in the ADU and rent out the main house? You weren't clear on why you wanted to add to the main house. If you are not going up, why not expand out (vs separate ADU)?