Corrections

Author: pietrodn

dronekit/__init__.py

@@ -2402,7 +2402,7 @@ def calibrate_gyro(self):
         """Request gyroscope calibration."""
 
         calibration_command = self.message_factory.command_long_encode(
-            0, 0,  # target_system, target_component
+            self._handler.target_system, 0,  # target_system, target_component
             mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,  # command
             0,  # confirmation
             1,  # param 1, 1: gyro calibration, 3: gyro temperature calibration
@@ -2418,10 +2418,10 @@ def calibrate_gyro(self):
     def calibrate_magnetometer(self):
         """Request magnetometer calibration."""
 
-        # APM requires the MAV_CMD_DO_START_MAG_CAL command, only present in the APM MAVLink dialect
+        # ArduPilot requires the MAV_CMD_DO_START_MAG_CAL command, only present in the ardupilotmega.xml definition
         if self._autopilot_type == mavutil.mavlink.MAV_AUTOPILOT_ARDUPILOTMEGA:
             calibration_command = self.message_factory.command_long_encode(
-                0, 0,  # target_system, target_component
+                self._handler.target_system, 0,  # target_system, target_component
                 mavutil.mavlink.MAV_CMD_DO_START_MAG_CAL,  # command
                 0,  # confirmation
                 0,  # param 1, uint8_t bitmask of magnetometers (0 means all).
@@ -2434,7 +2434,7 @@ def calibrate_magnetometer(self):
             )
         else:
             calibration_command = self.message_factory.command_long_encode(
-                0, 0,  # target_system, target_component
+                self._handler.target_system, 0,  # target_system, target_component
                 mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,  # command
                 0,  # confirmation
                 0,  # param 1, 1: gyro calibration, 3: gyro temperature calibration
@@ -2449,35 +2449,21 @@ def calibrate_magnetometer(self):
         self._logger.critical(calibration_command)
         self.send_mavlink(calibration_command)
 
-    def calibrate_accelerometer(self):
-        """Request accelerometer calibration."""
-
-        calibration_command = self.message_factory.command_long_encode(
-            0, 0,  # target_system, target_component
-            mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,  # command
-            0,  # confirmation
-            0,  # param 1, 1: gyro calibration, 3: gyro temperature calibration
-            0,  # param 2, 1: magnetometer calibration
-            0,  # param 3, 1: ground pressure calibration
-            0,  # param 4, 1: radio RC calibration, 2: RC trim calibration
-            1,  # param 5, 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration
-            0,  # param 6, 2: airspeed calibration
-            0,  # param 7, 1: ESC calibration, 3: barometer temperature calibration
-        )
-        self.send_mavlink(calibration_command)
+    def calibrate_accelerometer(self, simple=False):
+        """Request accelerometer calibration.
 
-    def calibrate_accelerometer_simple(self):
-        """Request simple accelerometer calibration."""
+        :param simple: if True, perform simple accelerometer calibration
+        """
 
         calibration_command = self.message_factory.command_long_encode(
-            0, 0,  # target_system, target_component
+            self._handler.target_system, 0,  # target_system, target_component
             mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,  # command
             0,  # confirmation
             0,  # param 1, 1: gyro calibration, 3: gyro temperature calibration
             0,  # param 2, 1: magnetometer calibration
             0,  # param 3, 1: ground pressure calibration
             0,  # param 4, 1: radio RC calibration, 2: RC trim calibration
-            4,  # param 5, 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration
+            4 if simple else 1,  # param 5, 1: accelerometer calibration, 2: board level calibration, 3: accelerometer temperature calibration, 4: simple accelerometer calibration
             0,  # param 6, 2: airspeed calibration
             0,  # param 7, 1: ESC calibration, 3: barometer temperature calibration
         )
@@ -2487,7 +2473,7 @@ def calibrate_board_level(self):
         """Request board level calibration."""
 
         calibration_command = self.message_factory.command_long_encode(
-            0, 0,  # target_system, target_component
+            self._handler.target_system, 0,  # target_system, target_component
             mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,  # command
             0,  # confirmation
             0,  # param 1, 1: gyro calibration, 3: gyro temperature calibration
@@ -2504,7 +2490,7 @@ def calibrate_barometer(self):
         """Request barometer calibration."""
 
         calibration_command = self.message_factory.command_long_encode(
-            0, 0,  # target_system, target_component
+            self._handler.target_system, 0,  # target_system, target_component
             mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,  # command
             0,  # confirmation
             0,  # param 1, 1: gyro calibration, 3: gyro temperature calibration

dronekit/test/sitl/test_sensor_calibration.py

@@ -45,9 +45,9 @@ def test_simple_accelerometer_calibration(connpath):
         vehicle,
         mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION,
         timeout=30,
-        ack_result=mavutil.mavlink.MAV_RESULT_FAILED,  # TODO: change when APM is upgraded
+        ack_result=mavutil.mavlink.MAV_RESULT_FAILED,
     ):
-        vehicle.calibrate_accelerometer_simple()
+        vehicle.calibrate_accelerometer(simple=True)
 
     vehicle.close()
 
@@ -66,7 +66,7 @@ def test_accelerometer_calibration(connpath):
         timeout=30,
         ack_result=mavutil.mavlink.MAV_RESULT_FAILED,
     ):
-        vehicle.calibrate_accelerometer()
+        vehicle.calibrate_accelerometer(simple=False)
 
     vehicle.close()