diff --git a/src/modules/mavlink/mavlink_main_linux.cpp b/src/modules/mavlink/mavlink_main_linux.cpp
index e9bb7b1308..784118916d 100644
--- a/src/modules/mavlink/mavlink_main_linux.cpp
+++ b/src/modules/mavlink/mavlink_main_linux.cpp
@@ -751,7 +751,7 @@ Mavlink::get_free_tx_buf()
 }
 
 void
-Mavlink::send_message(const uint8_t msgid, const void *msg)
+Mavlink::send_message(const uint8_t msgid, const void *msg, uint8_t component_ID)
 {
 	/* If the wait until transmit flag is on, only transmit after we've received messages.
 	   Otherwise, transmit all the time. */
@@ -785,7 +785,7 @@ Mavlink::send_message(const uint8_t msgid, const void *msg)
 	/* use mavlink's internal counter for the TX seq */
 	buf[2] = mavlink_get_channel_status(_channel)->current_tx_seq++;
 	buf[3] = mavlink_system.sysid;
-	buf[4] = mavlink_system.compid;
+	buf[4] = (component_ID == 0) ? mavlink_system.compid : component_ID;
 	buf[5] = msgid;
 
 	/* payload */
diff --git a/src/modules/mavlink/mavlink_main_linux.h b/src/modules/mavlink/mavlink_main_linux.h
index 693d8451ca..1edb5c720f 100644
--- a/src/modules/mavlink/mavlink_main_linux.h
+++ b/src/modules/mavlink/mavlink_main_linux.h
@@ -144,6 +144,13 @@ public:
 
 	bool			get_forwarding_on() { return _forwarding_on; }
 
+	/**
+	 * Get the free space in the transmit buffer
+	 *
+	 * @return free space in the UART TX buffer
+	 */
+	unsigned		get_free_tx_buf();
+
 	static int		start_helper(int argc, char *argv[]);
 
 	/**
@@ -163,12 +170,12 @@ public:
 	 */
 	int			set_hil_enabled(bool hil_enabled);
 
-	void		send_message(const uint8_t msgid, const void *msg);
+	void			send_message(const uint8_t msgid, const void *msg, uint8_t component_ID = 0);
 
 	/**
 	 * Resend message as is, don't change sequence number and CRC.
 	 */
-	void		resend_message(mavlink_message_t *msg);
+	void			resend_message(mavlink_message_t *msg);
 
 	void			handle_message(const mavlink_message_t *msg);
 
@@ -310,7 +317,7 @@ private:
 	int			_baudrate;
 	int			_datarate;		///< data rate for normal streams (attitude, position, etc.)
 	int			_datarate_events;	///< data rate for params, waypoints, text messages
-	float		_rate_mult;
+	float			_rate_mult;
 
 	/**
 	 * If the queue index is not at 0, the queue sending
@@ -332,9 +339,9 @@ private:
 	unsigned		_bytes_txerr;
 	unsigned		_bytes_rx;
 	uint64_t		_bytes_timestamp;
-	float		_rate_tx;
-	float		_rate_txerr;
-	float		_rate_rx;
+	float			_rate_tx;
+	float			_rate_txerr;
+	float			_rate_rx;
 
 	struct telemetry_status_s	_rstatus;			///< receive status
 
@@ -364,16 +371,9 @@ private:
 
 	void			mavlink_update_system();
 
-	int mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
+	int			mavlink_open_uart(int baudrate, const char *uart_name, struct termios *uart_config_original, bool *is_usb);
 
-	/**
-	 * Get the free space in the transmit buffer
-	 *
-	 * @return free space in the UART TX buffer
-	 */
-	unsigned			get_free_tx_buf();
-
-	static unsigned int interval_from_rate(float rate);
+	static unsigned int	interval_from_rate(float rate);
 
 	int configure_stream(const char *stream_name, const float rate);
 
@@ -404,7 +404,6 @@ private:
 	void update_rate_mult();
 
 	virtual int	ioctl(device::px4_dev_handle_t *handlep, int cmd, unsigned long arg);
-	static int	mavlink_dev_ioctl(struct file *filep, int cmd, unsigned long arg);
 
 	/**
 	 * Main mavlink task.