diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 9d280e5e6a..683494590c 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -444,6 +444,9 @@ public:
       returns true if a match is found
      */
     static bool find_by_mavtype_and_compid(uint8_t mav_type, uint8_t compid, uint8_t &sysid, mavlink_channel_t &channel) { return routing.find_by_mavtype_and_compid(mav_type, compid, sysid, channel); }
+    // same as above, but returns a pointer to the GCS_MAVLINK object
+    // corresponding to the channel
+    static GCS_MAVLINK *find_by_mavtype_and_compid(uint8_t mav_type, uint8_t compid, uint8_t &sysid);
 
     // update signing timestamp on GPS lock
     static void update_signing_timestamp(uint64_t timestamp_usec);
diff --git a/libraries/GCS_MAVLink/GCS_MAVLink.cpp b/libraries/GCS_MAVLink/GCS_MAVLink.cpp
index 225272e939..e93b26f7ec 100644
--- a/libraries/GCS_MAVLink/GCS_MAVLink.cpp
+++ b/libraries/GCS_MAVLink/GCS_MAVLink.cpp
@@ -48,6 +48,14 @@ mavlink_system_t mavlink_system = {7,1};
 // routing table
 MAVLink_routing GCS_MAVLINK::routing;
 
+GCS_MAVLINK *GCS_MAVLINK::find_by_mavtype_and_compid(uint8_t mav_type, uint8_t compid, uint8_t &sysid) {
+    mavlink_channel_t channel;
+    if (!routing.find_by_mavtype_and_compid(mav_type, compid, sysid, channel)) {
+        return nullptr;
+    }
+    return gcs().chan(channel);
+}
+
 // set a channel as private. Private channels get sent heartbeats, but
 // don't get broadcast packets or forwarded packets
 void GCS_MAVLINK::set_channel_private(mavlink_channel_t _chan)