vmount mavlink input: process commands only if the target matches our sys & comp id

src/drivers/vmount/input_mavlink.cpp

@@ -177,6 +177,23 @@ void InputMavlinkROI::print_status()
 
 InputMavlinkCmdMount::InputMavlinkCmdMount()
 {
+	param_t handle = param_find("MAV_SYS_ID");
+
+	if (handle == PARAM_INVALID) {
+		_mav_sys_id = 1;
+
+	} else {
+		param_get(handle, &_mav_sys_id);
+	}
+
+	handle = param_find("MAV_COMP_ID");
+
+	if (handle == PARAM_INVALID) {
+		_mav_comp_id = 1;
+
+	} else {
+		param_get(handle, &_mav_comp_id);
+	}
 }
 
 InputMavlinkCmdMount::~InputMavlinkCmdMount()
@@ -220,6 +237,11 @@ int InputMavlinkCmdMount::update_impl(unsigned int timeout_ms, ControlData **con
 			vehicle_command_s vehicle_command;
 			orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &vehicle_command);
 
+			// process only if the command is for us
+			if (vehicle_command.target_system != _mav_sys_id || vehicle_command.target_component != _mav_comp_id) {
+				return 0;
+			}
+
 			for (int i = 0; i < 3; ++i) {
 				_control_data.stabilize_axis[i] = _stabilize[i];
 			}

src/drivers/vmount/input_mavlink.h

@@ -42,6 +42,7 @@
 #include "input.h"
 #include "input_rc.h"
 #include <uORB/topics/vehicle_roi.h>
+#include <cstdint>
 
 namespace vmount
 {
@@ -94,6 +95,9 @@ private:
 	int _vehicle_command_sub = -1;
 	orb_advert_t _vehicle_command_ack_pub = nullptr;
 	bool _stabilize[3] = { false, false, false };
+
+	int32_t _mav_sys_id; ///< our mavlink system id
+	int32_t _mav_comp_id; ///< our mavlink component id
 };