diff --git a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
index 3833b94..c5333c0 100644
--- a/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
+++ b/PlaneGcsSdk_Shared/CommunicationManagement/CommModuleGenerateMavLink.cs
@@ -363,10 +363,14 @@ namespace Plane.CommunicationManagement
         /// </summary>
         /// <param name="copterId"></param>
         /// <returns></returns>
-        public async Task DoStartPreflightCompassAsync(short copterId)
+        public async Task DoStartPreflightCompassAsync(IEnumerable<ICopter> copters = null)
         {
+            short copterId = 0;
+            byte[] batchPacket = null;
+            GetCopterIds(copters, out copterId, out batchPacket);
+
             byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.PREFLIGHT_CALIBRATION, 0, 0, 0, 0, 1, 0, 0);
-            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
+            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
         }
 
         /// <summary>
@@ -374,14 +378,18 @@ namespace Plane.CommunicationManagement
         /// </summary>
         /// <param name="copterId"></param>
         /// <returns></returns>
-        public async Task DoNextPreflightCompassAsync(short copterId)
+        public async Task DoNextPreflightCompassAsync(IEnumerable<ICopter> copters = null)
         {
+            short copterId = 0;
+            byte[] batchPacket = null;
+            GetCopterIds(copters, out copterId, out batchPacket);
+
             MAVLink.mavlink_command_ack_t req = new MAVLink.mavlink_command_ack_t();
             req.command = 1;
             req.result = 1;
 
             byte[] packet = GeneratePacket(MAVLink.MAVLINK_MSG_ID_COMMAND_ACK, req);
-            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
+            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
         }
 
         /// <summary>
@@ -389,10 +397,14 @@ namespace Plane.CommunicationManagement
         /// </summary>
         /// <param name="copterId"></param>
         /// <returns></returns>
-        public async Task DoCalibrationCompassAsync(short copterId)
+        public async Task DoCalibrationCompassAsync(IEnumerable<ICopter> copters = null)
         {
+            short copterId = 0;
+            byte[] batchPacket = null;
+            GetCopterIds(copters, out copterId, out batchPacket);
+
             byte[] packet = DoCommandAsync(MAVLink.MAV_CMD.DO_START_MAG_CAL, 0, 1, 1, 0, 0, 0, 0);
-            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet).ConfigureAwait(false);
+            await WriteCommPacketAsync(copterId, MavComm.COMM_DOWNLOAD_COMM, packet, batchPacket).ConfigureAwait(false);
         }
 
         /// <summary>