Use specific component id

src/AutoPilotPlugins/APM/APMCompassCal.cc

@@ -157,7 +157,7 @@ CalWorkerThread::calibrate_return CalWorkerThread::calibrate(void)
                     sensorId = 6.0f;
                 }
                 if (sensorId != 0.0f) {
-                    _vehicle->doCommandLong(0, MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS, sensorId, -sphere_x[cur_mag], -sphere_y[cur_mag], -sphere_z[cur_mag]);
+                    _vehicle->doCommandLong(_vehicle->defaultComponentId(), MAV_CMD_PREFLIGHT_SET_SENSOR_OFFSETS, sensorId, -sphere_x[cur_mag], -sphere_y[cur_mag], -sphere_z[cur_mag]);
                 }
             }
         }

src/FactSystem/ParameterLoader.h

@@ -103,6 +103,8 @@ public:
 
     /// If this file is newer than anything in the cache, cache it as the latest version
     static void cacheMetaDataFile(const QString& metaDataFile, MAV_AUTOPILOT firmwareType);
+
+    int defaultComponenentId(void) { return _defaultComponentId; }
     
 signals:
     /// Signalled when the full set of facts are ready

src/Vehicle/Vehicle.cc

@@ -210,7 +210,7 @@ Vehicle::Vehicle(LinkInterface*             link,
     connect(_parameterLoader, &ParameterLoader::parameterListProgress, _autopilotPlugin, &AutoPilotPlugin::parameterListProgress);
 
     // Ask the vehicle for firmware version info
-    doCommandLong(MAV_COMP_ID_ALL, MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES, 1 /* request firmware version */);
+    doCommandLong(defaultComponentId(), MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES, 1 /* request firmware version */);
 
     _firmwarePlugin->initializeVehicle(this);
 
@@ -1691,12 +1691,16 @@ QString Vehicle::firmwareVersionTypeString(void) const
     }
 }
 
-
 void Vehicle::rebootVehicle()
 {
     doCommandLong(id(), MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN, 1.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f);
 }
 
+int Vehicle::defaultComponentId(void)
+{
+    return _parameterLoader->defaultComponenentId();
+}
+
 const char* VehicleGPSFactGroup::_hdopFactName =                "hdop";
 const char* VehicleGPSFactGroup::_vdopFactName =                "vdop";
 const char* VehicleGPSFactGroup::_courseOverGroundFactName =    "courseOverGround";

src/Vehicle/Vehicle.h

@@ -541,6 +541,8 @@ public:
     void setFirmwareVersion(int majorVersion, int minorVersion, int patchVersion, FIRMWARE_VERSION_TYPE versionType = FIRMWARE_VERSION_TYPE_OFFICIAL);
     static const int versionNotSetValue = -1;
 
+    int defaultComponentId(void);
+
 public slots:
     void setLatitude(double latitude);
     void setLongitude(double longitude);