diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
index 86ca4b129c..07c1ad2f78 100644
--- a/AntennaTracker/GCS_Mavlink.cpp
+++ b/AntennaTracker/GCS_Mavlink.cpp
@@ -92,8 +92,9 @@ void GCS_MAVLINK_Tracker::send_nav_controller_output() const
 /*
   send PID tuning message
  */
-void Tracker::send_pid_tuning(mavlink_channel_t chan)
+void GCS_MAVLINK_Tracker::send_pid_tuning()
 {
+    const Parameters &g = tracker.g;
 
     // Pitch PID
     if (g.gcs_pid_mask & 1) {
@@ -139,23 +140,6 @@ 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_PID_TUNING:
-        CHECK_PAYLOAD_SIZE(PID_TUNING);
-        tracker.send_pid_tuning(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 ab3e6f3142..c249512fdc 100644
--- a/AntennaTracker/GCS_Mavlink.h
+++ b/AntennaTracker/GCS_Mavlink.h
@@ -33,6 +33,7 @@ protected:
     uint64_t capabilities() const override;
 
     void send_nav_controller_output() const override;
+    void send_pid_tuning() override;
 
 private:
 
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 7c642e3e50..f748b61a4a 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -227,7 +227,6 @@ private:
 
     // GCS_Mavlink.cpp
     void send_nav_controller_output(mavlink_channel_t chan);
-    void send_pid_tuning(mavlink_channel_t chan);
 
     // Log.cpp
     void Log_Write_Attitude();