diff --git a/libraries/AP_Mount/AP_Mount.cpp b/libraries/AP_Mount/AP_Mount.cpp
index 1d2288b0daab0..7cbec7f6756d6 100644
--- a/libraries/AP_Mount/AP_Mount.cpp
+++ b/libraries/AP_Mount/AP_Mount.cpp
@@ -499,6 +499,18 @@ void AP_Mount::handle_command_gimbal_manager_set_pitchyaw(const mavlink_message_
     }
 }
 
+MAV_RESULT AP_Mount::handle_command_do_set_roi_sysid(const mavlink_command_int_t &packet)
+{
+    set_target_sysid((uint8_t)packet.param1);
+    return MAV_RESULT_ACCEPTED;
+}
+
+MAV_RESULT AP_Mount::handle_command_do_set_roi_none()
+{
+    set_mode_to_default();
+    return MAV_RESULT_ACCEPTED;
+}
+
 MAV_RESULT AP_Mount::handle_command(const mavlink_command_int_t &packet, const mavlink_message_t &msg)
 {
     switch (packet.command) {
@@ -510,6 +522,10 @@ MAV_RESULT AP_Mount::handle_command(const mavlink_command_int_t &packet, const m
         return handle_command_do_gimbal_manager_pitchyaw(packet);
     case MAV_CMD_DO_GIMBAL_MANAGER_CONFIGURE:
         return handle_command_do_gimbal_manager_configure(packet, msg);
+    case MAV_CMD_DO_SET_ROI_SYSID:
+        return handle_command_do_set_roi_sysid(packet);
+    case MAV_CMD_DO_SET_ROI_NONE:
+        return handle_command_do_set_roi_none();
     default:
         return MAV_RESULT_UNSUPPORTED;
     }
diff --git a/libraries/AP_Mount/AP_Mount.h b/libraries/AP_Mount/AP_Mount.h
index 7030695728783..462df7bac5183 100644
--- a/libraries/AP_Mount/AP_Mount.h
+++ b/libraries/AP_Mount/AP_Mount.h
@@ -177,6 +177,12 @@ class AP_Mount
     void set_target_sysid(uint8_t sysid) { set_target_sysid(_primary, sysid); }
     void set_target_sysid(uint8_t instance, uint8_t sysid);
 
+    // handling of set_roi_sysid message
+    MAV_RESULT handle_command_do_set_roi_sysid(const mavlink_command_int_t &packet);
+
+    // handling of set_roi_none message
+    MAV_RESULT handle_command_do_set_roi_none();
+
     // mavlink message handling:
     MAV_RESULT handle_command(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
     void handle_param_value(const mavlink_message_t &msg);
diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 04865cc574d89..1640954d7c949 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -639,10 +639,6 @@ class GCS_MAVLINK
     MAV_RESULT handle_command_battery_reset(const mavlink_command_long_t &packet);
     void handle_command_long(const mavlink_message_t &msg);
     MAV_RESULT handle_command_accelcal_vehicle_pos(const mavlink_command_long_t &packet);
-    MAV_RESULT handle_command_do_set_roi_sysid(const uint8_t sysid);
-    MAV_RESULT handle_command_do_set_roi_sysid(const mavlink_command_int_t &packet);
-    MAV_RESULT handle_command_do_set_roi_sysid(const mavlink_command_long_t &packet);
-    MAV_RESULT handle_command_do_set_roi_none();
 
 #if HAL_MOUNT_ENABLED
     virtual MAV_RESULT handle_command_mount(const mavlink_command_int_t &packet, const mavlink_message_t &msg);
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 7d9f38f5b8207..c54c051c0d4d5 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -5070,34 +5070,6 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_external_position_estimate(const mavl
 }
 #endif // AP_AHRS_POSITION_RESET_ENABLED
 
-#if HAL_MOUNT_ENABLED
-MAV_RESULT GCS_MAVLINK::handle_command_do_set_roi_none()
-{
-    AP_Mount *mount = AP::mount();
-    if (mount == nullptr) {
-        return MAV_RESULT_UNSUPPORTED;
-    }
-    mount->set_mode_to_default();
-    return MAV_RESULT_ACCEPTED;
-}
-
-MAV_RESULT GCS_MAVLINK::handle_command_do_set_roi_sysid(const uint8_t sysid)
-{
-    AP_Mount *mount = AP::mount();
-    if (mount == nullptr) {
-        return MAV_RESULT_UNSUPPORTED;
-    }
-    mount->set_target_sysid(sysid);
-
-    return MAV_RESULT_ACCEPTED;
-}
-
-MAV_RESULT GCS_MAVLINK::handle_command_do_set_roi_sysid(const mavlink_command_int_t &packet)
-{
-    return handle_command_do_set_roi_sysid((uint8_t)packet.param1);
-}
-#endif
-
 MAV_RESULT GCS_MAVLINK::handle_command_do_set_roi(const mavlink_command_int_t &packet)
 {
     // be aware that this method is called for both MAV_CMD_DO_SET_ROI
@@ -5147,9 +5119,7 @@ MAV_RESULT GCS_MAVLINK::handle_command_int_packet(const mavlink_command_int_t &p
         return handle_command_do_set_roi(packet);
 #if HAL_MOUNT_ENABLED
     case MAV_CMD_DO_SET_ROI_SYSID:
-        return handle_command_do_set_roi_sysid(packet);
     case MAV_CMD_DO_SET_ROI_NONE:
-        return handle_command_do_set_roi_none();
     case MAV_CMD_DO_MOUNT_CONFIGURE:
     case MAV_CMD_DO_MOUNT_CONTROL:
     case MAV_CMD_DO_GIMBAL_MANAGER_PITCHYAW: