From a345a9d993ed84831588f3dffd644766a2782793 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Thu, 20 Mar 2014 09:06:28 +1100
Subject: [PATCH] Copter: removed check on target component in arm

Thanks to DonLakeFlyer for finding this, see
https://github.com/diydrones/ardupilot/pull/909
---
 ArduCopter/GCS_Mavlink.pde | 22 +++++++++-------------
 1 file changed, 9 insertions(+), 13 deletions(-)

diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 8ed3a2d63c..c0c660adf7 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -1240,22 +1240,18 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             break;
 
         case MAV_CMD_COMPONENT_ARM_DISARM:
-            if (packet.target_component == MAV_COMP_ID_SYSTEM_CONTROL) {
-                if (packet.param1 == 1.0f) {
-                    // run pre_arm_checks and arm_checks and display failures
-                    pre_arm_checks(true);
-                    if(ap.pre_arm_check && arm_checks(true)) {
-                        init_arm_motors();
-                        result = MAV_RESULT_ACCEPTED;
-                    }else{
-                        result = MAV_RESULT_UNSUPPORTED;
-                    }
-                } else if (packet.param1 == 0.0f)  {
-                    init_disarm_motors();
+            if (packet.param1 == 1.0f) {
+                // run pre_arm_checks and arm_checks and display failures
+                pre_arm_checks(true);
+                if(ap.pre_arm_check && arm_checks(true)) {
+                    init_arm_motors();
                     result = MAV_RESULT_ACCEPTED;
-                } else {
+                }else{
                     result = MAV_RESULT_UNSUPPORTED;
                 }
+            } else if (packet.param1 == 0.0f)  {
+                init_disarm_motors();
+                result = MAV_RESULT_ACCEPTED;
             } else {
                 result = MAV_RESULT_UNSUPPORTED;
             }