diff --git a/ClientLib/src/main/java/org/droidplanner/services/android/impl/core/drone/autopilot/apm/ArduPilot.java b/ClientLib/src/main/java/org/droidplanner/services/android/impl/core/drone/autopilot/apm/ArduPilot.java
index 9e9d5617c8..71b77987be 100644
--- a/ClientLib/src/main/java/org/droidplanner/services/android/impl/core/drone/autopilot/apm/ArduPilot.java
+++ b/ClientLib/src/main/java/org/droidplanner/services/android/impl/core/drone/autopilot/apm/ArduPilot.java
@@ -385,6 +385,12 @@ protected boolean performTakeoff(Bundle data, ICommandListener listener) {
 
     @Override
     public void onMavLinkMessageReceived(MAVLinkMessage message) {
+
+        if (message.sysid != this.getSysid()) {
+            // Reject Messages that are not for the system id
+            return;
+        }
+
         int compId = message.compid;
         if (compId != AUTOPILOT_COMPONENT_ID
                 && compId != ARTOO_COMPONENT_ID
diff --git a/ClientLib/src/main/java/org/droidplanner/services/android/impl/core/drone/autopilot/generic/GenericMavLinkDrone.java b/ClientLib/src/main/java/org/droidplanner/services/android/impl/core/drone/autopilot/generic/GenericMavLinkDrone.java
index 1804cb2960..7cd803bfc2 100644
--- a/ClientLib/src/main/java/org/droidplanner/services/android/impl/core/drone/autopilot/generic/GenericMavLinkDrone.java
+++ b/ClientLib/src/main/java/org/droidplanner/services/android/impl/core/drone/autopilot/generic/GenericMavLinkDrone.java
@@ -574,6 +574,11 @@ private void onHeartbeat(MAVLinkMessage msg) {
     @Override
     public void onMavLinkMessageReceived(MAVLinkMessage message) {
 
+        if (message.sysid != this.getSysid()) {
+            // Reject Messages that are not for the system id
+            return;
+        }
+
         onHeartbeat(message);
 
         switch (message.msgid) {