diff --git a/APMrover2/APMrover2.cpp b/APMrover2/APMrover2.cpp
index fe32fac58c..d990ed58e6 100644
--- a/APMrover2/APMrover2.cpp
+++ b/APMrover2/APMrover2.cpp
@@ -208,7 +208,7 @@ void Rover::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);
         }
@@ -308,7 +308,7 @@ void Rover::one_second_loop(void)
         Log_Write_Current();
     }
     // send a heartbeat
-    gcs_send_message(MSG_HEARTBEAT);
+    gcs().send_message(MSG_HEARTBEAT);
 
     // allow orientation change at runtime to aid config
     ahrs.set_orientation();
diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index 102694d41f..b02d0be3c2 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -1573,8 +1573,8 @@ void Rover::mavlink_delay_cb()
     const uint32_t tnow = millis();
     if (tnow - last_1hz > 1000) {
         last_1hz = tnow;
-        gcs_send_message(MSG_HEARTBEAT);
-        gcs_send_message(MSG_EXTENDED_STATUS1);
+        gcs().send_message(MSG_HEARTBEAT);
+        gcs().send_message(MSG_EXTENDED_STATUS1);
     }
     if (tnow - last_50hz > 20) {
         last_50hz = tnow;
@@ -1592,14 +1592,6 @@ void Rover::mavlink_delay_cb()
     in_mavlink_delay = false;
 }
 
-/*
- *  send a message on both GCS links
- */
-void Rover::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
  */
@@ -1629,7 +1621,7 @@ void Rover::gcs_update(void)
  */
 void Rover::gcs_retry_deferred(void)
 {
-    gcs_send_message(MSG_RETRY_DEFERRED);
+    gcs().send_message(MSG_RETRY_DEFERRED);
     gcs().service_statustext();
 }
 
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index e9c9a41ade..69ba475c09 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -451,7 +451,6 @@ private:
     void send_rangefinder(mavlink_channel_t chan);
     void send_current_waypoint(mavlink_channel_t chan);
     bool telemetry_delayed(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_update(void);
diff --git a/APMrover2/commands_logic.cpp b/APMrover2/commands_logic.cpp
index 467afb4bda..ed638516f9 100644
--- a/APMrover2/commands_logic.cpp
+++ b/APMrover2/commands_logic.cpp
@@ -586,7 +586,7 @@ void Rover::do_take_picture()
 void Rover::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);
         }