diff --git a/src/Vehicle/Vehicle.cc b/src/Vehicle/Vehicle.cc
index 886330ca93c5b2a874668c0bf78dc41e9ac11bc2..6c2fc34d406761b6905e620d46cb8e40ab6b8cae 100644
--- a/src/Vehicle/Vehicle.cc
+++ b/src/Vehicle/Vehicle.cc
@@ -828,6 +828,10 @@ void Vehicle::_handleHomePosition(mavlink_message_t& message)
 
 void Vehicle::_handleHeartbeat(mavlink_message_t& message)
 {
+    if (message.compid != _defaultComponentId) {
+        return;
+    }
+
     _connectionActive();
 
     mavlink_heartbeat_t heartbeat;