diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index cfe31e155e..8333d6b5ce 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -1425,58 +1425,7 @@ mission_item_receive_failed:
     // read an individual command from EEPROM and send it to the GCS
     case MAVLINK_MSG_ID_MISSION_REQUEST:     // MAV ID: 40
     {
-        // decode
-        mavlink_mission_request_t packet;
-        mavlink_msg_mission_request_decode(msg, &packet);
-
-        // exit immediately if this command is not meant for this vehicle
-        if (mavlink_check_target(packet.target_system, packet.target_component)) {
-            break;
-        }
-
-        // retrieve mission from eeprom
-        if (!mission.read_cmd_from_storage(packet.seq, cmd)) {
-            result = MAV_MISSION_ERROR;
-            goto mission_item_send_failed;
-        }
-
-        // convert mission command to mavlink mission item packet
-        mavlink_mission_item_t ret_packet;
-        memset(&ret_packet, 0, sizeof(ret_packet));
-        if (!AP_Mission::mission_cmd_to_mavlink(cmd, ret_packet)) {
-            result = MAV_MISSION_ERROR;
-            goto mission_item_send_failed;
-        }
-
-        // set packet's current field to 1 if this is the command being executed
-        if (cmd.id == (uint16_t)mission.get_current_nav_cmd().index) {
-            ret_packet.current = 1;
-        }else{
-            ret_packet.current = 0;
-        }
-
-        // set auto continue to 1
-        ret_packet.autocontinue = 1;
-
-        mavlink_msg_mission_item_send(chan,msg->sysid,
-                                      msg->compid,
-                                      packet.seq,
-                                      ret_packet.frame,
-                                      cmd.id,
-                                      ret_packet.current,
-                                      ret_packet.autocontinue,
-                                      ret_packet.param1,
-                                      ret_packet.param2,
-                                      ret_packet.param3,
-                                      ret_packet.param4,
-                                      ret_packet.x,
-                                      ret_packet.y,
-                                      ret_packet.z);
-        break;
-
-mission_item_send_failed:
-        // send failure message
-        mavlink_msg_mission_ack_send(chan, msg->sysid, msg->compid, result);
+        handle_mission_request(mission, msg, cmd);
         break;
     }