diff --git a/libraries/AP_GPS/AP_GPS.cpp b/libraries/AP_GPS/AP_GPS.cpp
index 179057ad47..aea02b4c86 100644
--- a/libraries/AP_GPS/AP_GPS.cpp
+++ b/libraries/AP_GPS/AP_GPS.cpp
@@ -781,10 +781,10 @@ void AP_GPS::update(void)
 
 }
 
-void AP_GPS::handle_gps_inject(const mavlink_message_t *msg)
+void AP_GPS::handle_gps_inject(const mavlink_message_t &msg)
 {
     mavlink_gps_inject_data_t packet;
-    mavlink_msg_gps_inject_data_decode(msg, &packet);
+    mavlink_msg_gps_inject_data_decode(&msg, &packet);
     //TODO: check target
 
     inject_data(packet.data, packet.len);
@@ -793,9 +793,9 @@ void AP_GPS::handle_gps_inject(const mavlink_message_t *msg)
 /*
   pass along a mavlink message (for MAV type)
  */
-void AP_GPS::handle_msg(const mavlink_message_t *msg)
+void AP_GPS::handle_msg(const mavlink_message_t &msg)
 {
-    switch (msg->msgid) {
+    switch (msg.msgid) {
     case MAVLINK_MSG_ID_GPS_RTCM_DATA:
         // pass data to de-fragmenter
         handle_gps_rtcm_data(msg);
@@ -1029,10 +1029,10 @@ bool AP_GPS::blend_health_check() const
 /*
    re-assemble GPS_RTCM_DATA message
  */
-void AP_GPS::handle_gps_rtcm_data(const mavlink_message_t *msg)
+void AP_GPS::handle_gps_rtcm_data(const mavlink_message_t &msg)
 {
     mavlink_gps_rtcm_data_t packet;
-    mavlink_msg_gps_rtcm_data_decode(msg, &packet);
+    mavlink_msg_gps_rtcm_data_decode(&msg, &packet);
 
     if (packet.len > MAVLINK_MSG_GPS_RTCM_DATA_FIELD_DATA_LEN) {
         // invalid packet
diff --git a/libraries/AP_GPS/AP_GPS.h b/libraries/AP_GPS/AP_GPS.h
index dcf662887a..6f1771dfbb 100644
--- a/libraries/AP_GPS/AP_GPS.h
+++ b/libraries/AP_GPS/AP_GPS.h
@@ -169,7 +169,7 @@ public:
     void update(void);
 
     // Pass mavlink data to message handlers (for MAV type)
-    void handle_msg(const mavlink_message_t *msg);
+    void handle_msg(const mavlink_message_t &msg);
 
     // Accessor functions
 
@@ -538,8 +538,8 @@ private:
     } *rtcm_buffer;
 
     // re-assemble GPS_RTCM_DATA message
-    void handle_gps_rtcm_data(const mavlink_message_t *msg);
-    void handle_gps_inject(const mavlink_message_t *msg);
+    void handle_gps_rtcm_data(const mavlink_message_t &msg);
+    void handle_gps_inject(const mavlink_message_t &msg);
 
     //Inject a packet of raw binary to a GPS
     void inject_data(uint8_t *data, uint16_t len);
diff --git a/libraries/AP_GPS/AP_GPS_MAV.cpp b/libraries/AP_GPS/AP_GPS_MAV.cpp
index 8bcd4ab463..0c8cde345c 100644
--- a/libraries/AP_GPS/AP_GPS_MAV.cpp
+++ b/libraries/AP_GPS/AP_GPS_MAV.cpp
@@ -39,13 +39,13 @@ bool AP_GPS_MAV::read(void)
 
 // handles an incoming mavlink message (HIL_GPS) and sets
 // corresponding gps data appropriately;
-void AP_GPS_MAV::handle_msg(const mavlink_message_t *msg)
+void AP_GPS_MAV::handle_msg(const mavlink_message_t &msg)
 {
-    switch (msg->msgid) {
+    switch (msg.msgid) {
 
         case MAVLINK_MSG_ID_GPS_INPUT: {
             mavlink_gps_input_t packet;
-            mavlink_msg_gps_input_decode(msg, &packet);
+            mavlink_msg_gps_input_decode(&msg, &packet);
 
             bool have_alt    = ((packet.ignore_flags & GPS_INPUT_IGNORE_FLAG_ALT) == 0);
             bool have_hdop   = ((packet.ignore_flags & GPS_INPUT_IGNORE_FLAG_HDOP) == 0);
@@ -111,7 +111,7 @@ void AP_GPS_MAV::handle_msg(const mavlink_message_t *msg)
 
         case MAVLINK_MSG_ID_HIL_GPS: {
             mavlink_hil_gps_t packet;
-            mavlink_msg_hil_gps_decode(msg, &packet);
+            mavlink_msg_hil_gps_decode(&msg, &packet);
 
             state.time_week = 0;
             state.time_week_ms  = packet.time_usec/1000;
diff --git a/libraries/AP_GPS/AP_GPS_MAV.h b/libraries/AP_GPS/AP_GPS_MAV.h
index 8ea8d6ad0f..8add41e54d 100644
--- a/libraries/AP_GPS/AP_GPS_MAV.h
+++ b/libraries/AP_GPS/AP_GPS_MAV.h
@@ -33,7 +33,7 @@ public:
 
     static bool _detect(struct MAV_detect_state &state, uint8_t data);
 
-    void handle_msg(const mavlink_message_t *msg) override;
+    void handle_msg(const mavlink_message_t &msg) override;
 
     const char *name() const override { return "MAV"; }
 
diff --git a/libraries/AP_GPS/GPS_Backend.h b/libraries/AP_GPS/GPS_Backend.h
index 7fa6f3f24a..973d7611aa 100644
--- a/libraries/AP_GPS/GPS_Backend.h
+++ b/libraries/AP_GPS/GPS_Backend.h
@@ -50,7 +50,7 @@ public:
 
     virtual void broadcast_configuration_failure_reason(void) const { return ; }
 
-    virtual void handle_msg(const mavlink_message_t *msg) { return ; }
+    virtual void handle_msg(const mavlink_message_t &msg) { return ; }
 
     // driver specific lag, returns true if the driver is confident in the provided lag
     virtual bool get_lag(float &lag) const { lag = 0.2f; return true; }