From 0bcea01b5c20fa26077572cdf08f0f5519ffd2db Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Thu, 26 May 2016 13:57:09 -0700
Subject: [PATCH] Use specific component id

---
 src/AutoPilotPlugins/APM/APMCompassCal.cc | 2 +-
 src/FactSystem/ParameterLoader.h          | 2 ++
 src/Vehicle/Vehicle.cc                    | 8 ++++++--
 src/Vehicle/Vehicle.h                     | 2 ++
 4 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/src/AutoPilotPlugins/APM/APMCompassCal.cc b/src/AutoPilotPlugins/APM/APMCompassCal.cc
index b769142a7..a3bb441e5 100644
--- a/src/AutoPilotPlugins/APM/APMCompassCal.cc
+++ b/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]);
                 }
             }
         }
diff --git a/src/FactSystem/ParameterLoader.h b/src/FactSystem/ParameterLoader.h
index 3b1e622c5..6dbd25e15 100644
--- a/src/FactSystem/ParameterLoader.h
+++ b/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
diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 961fab555..a26750b32 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/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";
diff --git a/src/Vehicle/Vehicle.h b/src/Vehicle/Vehicle.h
index 43c753498..05afe3df4 100644
--- a/src/Vehicle/Vehicle.h
+++ b/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);
-- 
2.22.0