diff --git a/ArduCopter/ArduCopter.cpp b/ArduCopter/ArduCopter.cpp
index 9914d9cf48..f05db99bf3 100644
--- a/ArduCopter/ArduCopter.cpp
+++ b/ArduCopter/ArduCopter.cpp
@@ -339,7 +339,7 @@ void Copter::update_trigger(void)
 #if CAMERA == ENABLED
     camera.trigger_pic_cleanup();
     if (camera.check_trigger_pin()) {
-        gcs_send_message(MSG_CAMERA_FEEDBACK);
+        gcs().send_message(MSG_CAMERA_FEEDBACK);
         if (should_log(MASK_LOG_CAMERA)) {
             DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
         }
@@ -416,7 +416,7 @@ void Copter::twentyfive_hz_logging()
 {
 #if HIL_MODE != HIL_MODE_DISABLED
     // HIL for a copter needs very fast update of the servo values
-    gcs_send_message(MSG_SERVO_OUTPUT_RAW);
+    gcs().send_message(MSG_SERVO_OUTPUT_RAW);
 #endif
 
 #if HIL_MODE == HIL_MODE_DISABLED
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index eea8bd25ca..4293e78fee 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -718,7 +718,6 @@ private:
     void init_visual_odom();
     void update_visual_odom();
     void send_pid_tuning(mavlink_channel_t chan);
-    void gcs_send_message(enum ap_message id);
     void gcs_send_mission_item_reached_message(uint16_t mission_index);
     void gcs_data_stream_send(void);
     void gcs_check_input(void);
diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index 6a95ce0848..1ad0928b9a 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -5,12 +5,12 @@
 
 void Copter::gcs_send_heartbeat(void)
 {
-    gcs_send_message(MSG_HEARTBEAT);
+    gcs().send_message(MSG_HEARTBEAT);
 }
 
 void Copter::gcs_send_deferred(void)
 {
-    gcs_send_message(MSG_RETRY_DEFERRED);
+    gcs().send_message(MSG_RETRY_DEFERRED);
     gcs().service_statustext();
 }
 
@@ -2027,7 +2027,7 @@ void Copter::mavlink_delay_cb()
     if (tnow - last_1hz > 1000) {
         last_1hz = tnow;
         gcs_send_heartbeat();
-        gcs_send_message(MSG_EXTENDED_STATUS1);
+        gcs().send_message(MSG_EXTENDED_STATUS1);
     }
     if (tnow - last_50hz > 20) {
         last_50hz = tnow;
@@ -2046,14 +2046,6 @@ void Copter::mavlink_delay_cb()
     in_mavlink_delay = false;
 }
 
-/*
- *  send a message on both GCS links
- */
-void Copter::gcs_send_message(enum ap_message id)
-{
-    gcs().send_message(id);
-}
-
 /*
  *  send a mission item reached message and load the index before the send attempt in case it may get delayed
  */
diff --git a/ArduCopter/commands_logic.cpp b/ArduCopter/commands_logic.cpp
index cfcf0e3852..8d7e320f58 100644
--- a/ArduCopter/commands_logic.cpp
+++ b/ArduCopter/commands_logic.cpp
@@ -1155,7 +1155,7 @@ void Copter::do_take_picture()
 void Copter::log_picture()
 {
     if (!camera.using_feedback_pin()) {
-        gcs_send_message(MSG_CAMERA_FEEDBACK);
+        gcs().send_message(MSG_CAMERA_FEEDBACK);
         if (should_log(MASK_LOG_CAMERA)) {
             DataFlash.Log_Write_Camera(ahrs, gps, current_loc);
         }