So, thanks to me giving a competent person (who also doesn't own any Windows or Android devices) a couple of distoX's that needed ... At the moment this only works with python3 and distoX1, But Stuart plans to use the topodroid codebase to work out the differences for the X2 protocol (unless anyone has a doc for this already, or Marco can tell him). wookey, i may be not precise because i do not have the docs at hand. the distox2 protocol is backward compatible. therefore, getting the calib raw data from the distox2 is the same as in distox1, namely two data packets, one for G, one for M. the commands to toggle calib mode on and off are the same, too. the computation of the calib coeff has changed a bit with firmware 2.2 (or 2.3, don't remember well) beat added three non-linear coeffs, and these are written after the other 24. there is a catch: in the distox1 those mem are set at 0xff (ie -1), so these three coeff are written with 0 getting to 0xff. the non-linear calib should not be used for older firmwares. i have not changed the linux code, and i do not think to have the time to do that. i also understand you may not want to use android, but you can use the android code and turn it in C++ the computational methods are very much C like, and the helper classes are just basic linalgebra. if you or stuart have any question, send me email marco