diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
index d6ef31bc71..c9e3e90841 100644
--- a/AntennaTracker/GCS_Mavlink.cpp
+++ b/AntennaTracker/GCS_Mavlink.cpp
@@ -82,17 +82,17 @@ void GCS_MAVLINK_Tracker::get_sensor_status_flags(uint32_t &present,
     health = tracker.control_sensors_health;
 }
 
-void Tracker::send_nav_controller_output(mavlink_channel_t chan)
+void GCS_MAVLINK_Tracker::send_nav_controller_output() const
 {
-	float alt_diff = (g.alt_source == ALT_SOURCE_BARO) ? nav_status.alt_difference_baro : nav_status.alt_difference_gps;
+	float alt_diff = (tracker.g.alt_source == ALT_SOURCE_BARO) ? tracker.nav_status.alt_difference_baro : tracker.nav_status.alt_difference_gps;
 
     mavlink_msg_nav_controller_output_send(
         chan,
         0,
-        nav_status.pitch,
-        nav_status.bearing,
-        nav_status.bearing,
-        MIN(nav_status.distance, UINT16_MAX),
+        tracker.nav_status.pitch,
+        tracker.nav_status.bearing,
+        tracker.nav_status.bearing,
+        MIN(tracker.nav_status.distance, UINT16_MAX),
         alt_diff,
         0,
         0);
@@ -110,23 +110,6 @@ void GCS_MAVLINK_Tracker::handle_change_alt_request(AP_Mission::Mission_Command&
     // do nothing
 }
 
-// try to send a message, return false if it won't fit in the serial tx buffer
-bool GCS_MAVLINK_Tracker::try_send_message(enum ap_message id)
-{
-    switch (id) {
-
-    case MSG_NAV_CONTROLLER_OUTPUT:
-        CHECK_PAYLOAD_SIZE(NAV_CONTROLLER_OUTPUT);
-        tracker.send_nav_controller_output(chan);
-        break;
-
-    default:
-        return GCS_MAVLINK::try_send_message(id);
-    }
-    return true;
-}
-
-
 /*
   default stream rates to 1Hz
  */
diff --git a/AntennaTracker/GCS_Mavlink.h b/AntennaTracker/GCS_Mavlink.h
index 0f671dca82..0c11f46867 100644
--- a/AntennaTracker/GCS_Mavlink.h
+++ b/AntennaTracker/GCS_Mavlink.h
@@ -31,6 +31,8 @@ protected:
     bool set_home_to_current_location(bool lock) override WARN_IF_UNUSED { return false; }
     bool set_home(const Location& loc, bool lock) override WARN_IF_UNUSED { return false; }
 
+    void send_nav_controller_output() const override;
+
 private:
 
     void packetReceived(const mavlink_status_t &status, mavlink_message_t &msg) override;
@@ -38,7 +40,6 @@ private:
     void handleMessage(mavlink_message_t * msg) override;
     bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
     void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
-    bool try_send_message(enum ap_message id) override;
 
     MAV_TYPE frame_type() const override;
     MAV_MODE base_mode() const override;