diff --git a/src/MissionManager/PlanManager.cc b/src/MissionManager/PlanManager.cc
index a30c4cc..833c2f2 100644
--- a/src/MissionManager/PlanManager.cc
+++ b/src/MissionManager/PlanManager.cc
@@ -114,7 +114,7 @@ void PlanManager::_writeMissionCount(void)
                                         _dedicatedLink->mavlinkChannel(),
                                         &message,
                                         _vehicle->id(),
-                                        MAV_COMP_ID_MISSIONPLANNER,
+                                        MAV_COMP_ID_AUTOPILOT1,
                                         _writeMissionItems.count(),
                                         _planType);
 
@@ -157,7 +157,7 @@ void PlanManager::_requestList(void)
                                                _dedicatedLink->mavlinkChannel(),
                                                &message,
                                                _vehicle->id(),
-                                               MAV_COMP_ID_MISSIONPLANNER,
+                                               MAV_COMP_ID_AUTOPILOT1,
                                                _planType);
 
     _vehicle->sendMessageOnLink(_dedicatedLink, message);
@@ -296,7 +296,7 @@ void PlanManager::_readTransactionComplete(void)
                                       _dedicatedLink->mavlinkChannel(),
                                       &message,
                                       _vehicle->id(),
-                                      MAV_COMP_ID_MISSIONPLANNER,
+                                      MAV_COMP_ID_AUTOPILOT1,
                                       MAV_MISSION_ACCEPTED,
                                       _planType);
     
@@ -354,7 +354,7 @@ void PlanManager::_requestNextMissionItem(void)
                                                   _dedicatedLink->mavlinkChannel(),
                                                   &message,
                                                   _vehicle->id(),
-                                                  MAV_COMP_ID_MISSIONPLANNER,
+                                                  MAV_COMP_ID_AUTOPILOT1,
                                                   _itemIndicesToRead[0],
                 _planType);
     } else {
@@ -363,7 +363,7 @@ void PlanManager::_requestNextMissionItem(void)
                                               _dedicatedLink->mavlinkChannel(),
                                               &message,
                                               _vehicle->id(),
-                                              MAV_COMP_ID_MISSIONPLANNER,
+                                              MAV_COMP_ID_AUTOPILOT1,
                                               _itemIndicesToRead[0],
                 _planType);
     }
@@ -536,7 +536,7 @@ void PlanManager::_handleMissionRequest(const mavlink_message_t& message, bool m
                                                _dedicatedLink->mavlinkChannel(),
                                                &messageOut,
                                                _vehicle->id(),
-                                               MAV_COMP_ID_MISSIONPLANNER,
+                                               MAV_COMP_ID_AUTOPILOT1,
                                                missionRequest.seq,
                                                item->frame(),
                                                item->command(),
@@ -556,7 +556,7 @@ void PlanManager::_handleMissionRequest(const mavlink_message_t& message, bool m
                                            _dedicatedLink->mavlinkChannel(),
                                            &messageOut,
                                            _vehicle->id(),
-                                           MAV_COMP_ID_MISSIONPLANNER,
+                                           MAV_COMP_ID_AUTOPILOT1,
                                            missionRequest.seq,
                                            item->frame(),
                                            item->command(),
@@ -897,7 +897,7 @@ void PlanManager::_removeAllWorker(void)
                                             _dedicatedLink->mavlinkChannel(),
                                             &message,
                                             _vehicle->id(),
-                                            MAV_COMP_ID_MISSIONPLANNER,
+                                            MAV_COMP_ID_AUTOPILOT1,
                                             _planType);
     _vehicle->sendMessageOnLink(_vehicle->priorityLink(), message);
     _startAckTimeout(AckMissionClearAll);
diff --git a/src/comm/MockLinkMissionItemHandler.cc b/src/comm/MockLinkMissionItemHandler.cc
index 672d4dc..1798268 100644
--- a/src/comm/MockLinkMissionItemHandler.cc
+++ b/src/comm/MockLinkMissionItemHandler.cc
@@ -156,7 +156,7 @@ void MockLinkMissionItemHandler::_handleMissionRequestList(const mavlink_message
         mavlink_message_t   responseMsg;
         
         mavlink_msg_mission_count_pack_chan(_mockLink->vehicleId(),
-                                            MAV_COMP_ID_MISSIONPLANNER,
+                                            MAV_COMP_ID_AUTOPILOT1,
                                             _mockLink->mavlinkChannel(),
                                             &responseMsg,               // Outgoing message
                                             msg.sysid,                  // Target is original sender
@@ -224,7 +224,7 @@ void MockLinkMissionItemHandler::_handleMissionRequest(const mavlink_message_t&
             }
             
             mavlink_msg_mission_item_pack_chan(_mockLink->vehicleId(),
-                                               MAV_COMP_ID_MISSIONPLANNER,
+                                               MAV_COMP_ID_AUTOPILOT1,
                                                _mockLink->mavlinkChannel(),
                                                &responseMsg,            // Outgoing message
                                                msg.sysid,               // Target is original sender
@@ -310,7 +310,7 @@ void MockLinkMissionItemHandler::_requestNextMissionItem(int sequenceNumber)
             mavlink_message_t message;
 
             mavlink_msg_mission_request_pack_chan(_mockLink->vehicleId(),
-                                                  MAV_COMP_ID_MISSIONPLANNER,
+                                                  MAV_COMP_ID_AUTOPILOT1,
                                                   _mockLink->mavlinkChannel(),
                                                   &message,
                                                   _mavlinkProtocol->getSystemId(),
@@ -332,7 +332,7 @@ void MockLinkMissionItemHandler::_sendAck(MAV_MISSION_RESULT ackType)
     mavlink_message_t message;
     
     mavlink_msg_mission_ack_pack_chan(_mockLink->vehicleId(),
-                                      MAV_COMP_ID_MISSIONPLANNER,
+                                      MAV_COMP_ID_AUTOPILOT1,
                                       _mockLink->mavlinkChannel(),
                                       &message,
                                       _mavlinkProtocol->getSystemId(),