Yep, just swap out the bad heater grid relay. There are two. Most likely just one is bad. The heater grid has two hot cables (side by side at the grid, on the back side) and one ground (on the front side, that just loops to one of the intake horn bolts). Follow the hot cables away from the grid and you'll find the relays. They should be easy to get to. Then it's just a matter of figuring out which one's bad (melted wire or mulitmeter; the relays are normally open - no continuity) and swapping it out. If the cable going to the grid looks cooked, replace it too.
Also check around the intake horn/grid area for damage (i. e. melted metal, maybe replace the paper gaskets). Some folks have had fires started because the grids stayed on. You're lucky you caught it.
Public service tip: It's always a good idea to check the voltmeter once you're on the road to make sure it's back up to 14v-ish. If it's sagging around 12v or below either you're not charging or the grid is stuck on.