code: def cmd_accelcal(self, args):
          '''do a full 3D accel calibration'''
          mav = self.master
          # ack the APM to begin 3D calibration of accelerometers
          mav.mav.command_long_send(mav.target_system, mav.target_component,
                                    mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, 0,
                                    0, 0, 0, 0, 1, 0, 0)
          self.accelcal_count = 0
          self.accelcal_wait_enter = Falsf cmd_accelcal(self, args):
          '''do a full 3D accel calibration'''
          mav = self.master
          # ack the APM to begin 3D calibration of accelerometers
          mav.mav.command_long_send(mav.target_system, mav.target_component,
                                    mavutil.mavlink.MAV_CMD_PREFLIGHT_CALIBRATION, 0,
                                    0, 0, 0, 0, 1, 0, 0)
          self.accelcal_count = 0
          self.accelcal_wait_enter = False
docs: do a full 3D accel calibration