diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index af481f68d3..b40544c2e5 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -91,7 +91,7 @@ void Plane::send_heartbeat(mavlink_channel_t chan)
     // indicate we have set a custom mode
     base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
 
-    gcs_chan[chan-MAVLINK_COMM_0].send_heartbeat(MAV_TYPE_FIXED_WING,
+    gcs().chan(chan-MAVLINK_COMM_0).send_heartbeat(MAV_TYPE_FIXED_WING,
                                             base_mode,
                                             custom_mode,
                                             system_status);
@@ -2099,7 +2099,7 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
 void Plane::mavlink_delay_cb()
 {
     static uint32_t last_1hz, last_50hz, last_5s;
-    if (!gcs_chan[0].initialised || in_mavlink_delay) return;
+    if (!gcs().chan(0).initialised || in_mavlink_delay) return;
 
     in_mavlink_delay = true;
 
@@ -2129,11 +2129,7 @@ void Plane::mavlink_delay_cb()
  */
 void Plane::gcs_send_message(enum ap_message id)
 {
-    for (uint8_t i=0; i<num_gcs; i++) {
-        if (gcs_chan[i].initialised) {
-            gcs_chan[i].send_message(id);
-        }
-    }
+    gcs().send_message(id);
 }
 
 /*
@@ -2141,12 +2137,7 @@ void Plane::gcs_send_message(enum ap_message id)
  */
 void Plane::gcs_send_mission_item_reached_message(uint16_t mission_index)
 {
-    for (uint8_t i=0; i<num_gcs; i++) {
-        if (gcs_chan[i].initialised) {
-            gcs_chan[i].mission_item_reached_index = mission_index;
-            gcs_chan[i].send_message(MSG_MISSION_ITEM_REACHED);
-        }
-    }
+    gcs().send_mission_item_reached_message(mission_index);
 }
 
 /*
@@ -2154,11 +2145,7 @@ void Plane::gcs_send_mission_item_reached_message(uint16_t mission_index)
  */
 void Plane::gcs_data_stream_send(void)
 {
-    for (uint8_t i=0; i<num_gcs; i++) {
-        if (gcs_chan[i].initialised) {
-            gcs_chan[i].data_stream_send();
-        }
-    }
+    gcs().data_stream_send();
 }
 
 /*
@@ -2166,15 +2153,7 @@ void Plane::gcs_data_stream_send(void)
  */
 void Plane::gcs_update(void)
 {
-    for (uint8_t i=0; i<num_gcs; i++) {
-        if (gcs_chan[i].initialised) {
-#if CLI_ENABLED == ENABLED
-            gcs_chan[i].update(g.cli_enabled == 1 ? FUNCTOR_BIND_MEMBER(&Plane::run_cli, void, AP_HAL::UARTDriver *):nullptr);
-#else
-            gcs_chan[i].update(nullptr);
-#endif
-        }
-    }
+    gcs().update();
 }
 
 void Plane::gcs_send_text(MAV_SEVERITY severity, const char *str)
@@ -2204,13 +2183,7 @@ void Plane::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...)
  */
 void Plane::gcs_send_airspeed_calibration(const Vector3f &vg)
 {
-    for (uint8_t i=0; i<num_gcs; i++) {
-        if (gcs_chan[i].initialised) {
-            if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, AIRSPEED_AUTOCAL)) {
-                airspeed.log_mavlink_send((mavlink_channel_t)i, vg);
-            }
-        }
-    }
+    gcs().send_airspeed_calibration(vg);
 }
 
 /**
diff --git a/ArduPlane/GCS_Plane.cpp b/ArduPlane/GCS_Plane.cpp
new file mode 100644
index 0000000000..fd32ddf9ad
--- /dev/null
+++ b/ArduPlane/GCS_Plane.cpp
@@ -0,0 +1,78 @@
+#include "GCS_Plane.h"
+#include "Plane.h"
+
+void GCS_Plane::reset_cli_timeout()
+{
+    for (uint8_t i=0; i<_num_gcs; i++) {
+        _chan[i].reset_cli_timeout();
+    }
+}
+
+void GCS_Plane::send_message(enum ap_message id)
+{
+    for (uint8_t i=0; i<_num_gcs; i++) {
+        if (_chan[i].initialised) {
+            _chan[i].send_message(id);
+        }
+    }
+}
+
+void GCS_Plane::data_stream_send()
+{
+    for (uint8_t i=0; i<_num_gcs; i++) {
+        if (_chan[i].initialised) {
+            _chan[i].data_stream_send();
+        }
+    }
+}
+
+void GCS_Plane::update(void)
+{
+    for (uint8_t i=0; i<_num_gcs; i++) {
+        if (_chan[i].initialised) {
+            _chan[i].update(_run_cli);
+        }
+    }
+}
+
+void GCS_Plane::send_mission_item_reached_message(uint16_t mission_index)
+{
+    for (uint8_t i=0; i<_num_gcs; i++) {
+        if (_chan[i].initialised) {
+            _chan[i].mission_item_reached_index = mission_index;
+            _chan[i].send_message(MSG_MISSION_ITEM_REACHED);
+        }
+    }
+}
+
+void GCS_Plane::send_airspeed_calibration(const Vector3f &vg)
+{
+    for (uint8_t i=0; i<_num_gcs; i++) {
+        if (_chan[i].initialised) {
+            if (HAVE_PAYLOAD_SPACE((mavlink_channel_t)i, AIRSPEED_AUTOCAL)) {
+                plane.airspeed.log_mavlink_send((mavlink_channel_t)i, vg);
+            }
+        }
+    }
+}
+
+void GCS_Plane::setup_uarts(AP_SerialManager &serial_manager)
+{
+    for (uint8_t i = 1; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
+        _chan[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
+    }
+}
+
+void GCS_Plane::handle_interactive_setup()
+{
+    if (plane.g.cli_enabled == 1) {
+        const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
+        plane.cliSerial->printf("%s\n", msg);
+        if (_chan[1].initialised && (_chan[1].get_uart() != NULL)) {
+            _chan[1].get_uart()->printf("%s\n", msg);
+        }
+        if (num_gcs() > 2 && _chan[2].initialised && (_chan[2].get_uart() != NULL)) {
+            _chan[2].get_uart()->printf("%s\n", msg);
+        }
+    }
+}
diff --git a/ArduPlane/GCS_Plane.h b/ArduPlane/GCS_Plane.h
new file mode 100644
index 0000000000..8b8706f752
--- /dev/null
+++ b/ArduPlane/GCS_Plane.h
@@ -0,0 +1,37 @@
+#pragma once
+
+#include <GCS_MAVLink/GCS.h>
+#include "GCS_Mavlink.h"
+
+class GCS_Plane : public GCS
+{
+    friend class Plane; // for temporary access to num_gcs and links
+
+public:
+
+    FUNCTOR_TYPEDEF(run_cli_fn, void, AP_HAL::UARTDriver*);
+
+    // return the number of valid GCS objects
+    uint8_t num_gcs() const { return _num_gcs; };
+
+    // return GCS link at offset ofs
+    GCS_MAVLINK_Plane &chan(const uint8_t ofs) { return _chan[ofs]; };
+
+    void reset_cli_timeout();
+    void send_message(enum ap_message id);
+    void send_mission_item_reached_message(uint16_t mission_index);
+    void data_stream_send();
+    void update();
+    void send_airspeed_calibration(const Vector3f &vg);
+
+    void set_run_cli_func(run_cli_fn run_cli) { _run_cli = run_cli; }
+    void setup_uarts(AP_SerialManager &serial_manager);
+    void handle_interactive_setup();
+
+private:
+
+    uint8_t _num_gcs = MAVLINK_COMM_NUM_BUFFERS;
+    GCS_MAVLINK_Plane _chan[MAVLINK_COMM_NUM_BUFFERS];
+    run_cli_fn _run_cli;
+
+};
diff --git a/ArduPlane/Log.cpp b/ArduPlane/Log.cpp
index b560ad095c..9ecf1986e2 100644
--- a/ArduPlane/Log.cpp
+++ b/ArduPlane/Log.cpp
@@ -542,9 +542,7 @@ void Plane::log_init(void)
         gcs_send_text(MAV_SEVERITY_INFO, "Preparing log system");
         DataFlash.Prep();
         gcs_send_text(MAV_SEVERITY_INFO, "Prepared log system");
-        for (uint8_t i=0; i<num_gcs; i++) {
-            gcs_chan[i].reset_cli_timeout();
-        }
+        gcs().reset_cli_timeout();
     }
 }
 
diff --git a/ArduPlane/Parameters.cpp b/ArduPlane/Parameters.cpp
index 2d74c971c1..b1212c7b51 100644
--- a/ArduPlane/Parameters.cpp
+++ b/ArduPlane/Parameters.cpp
@@ -1070,19 +1070,19 @@ const AP_Param::Info Plane::var_info[] = {
 
     // @Group: SR0_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(gcs_chan[0], gcs0,        "SR0_",     GCS_MAVLINK),
+    GOBJECTN(_gcs._chan[0], gcs0,        "SR0_",     GCS_MAVLINK),
 
     // @Group: SR1_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(gcs_chan[1],  gcs1,       "SR1_",     GCS_MAVLINK),
+    GOBJECTN(_gcs._chan[1],  gcs1,       "SR1_",     GCS_MAVLINK),
 
     // @Group: SR2_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(gcs_chan[2],  gcs2,       "SR2_",     GCS_MAVLINK),
+    GOBJECTN(_gcs._chan[2],  gcs2,       "SR2_",     GCS_MAVLINK),
 
     // @Group: SR3_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(gcs_chan[3],  gcs3,       "SR3_",     GCS_MAVLINK),
+    GOBJECTN(_gcs._chan[3],  gcs3,       "SR3_",     GCS_MAVLINK),
 
     // @Group: INS_
     // @Path: ../libraries/AP_InertialSensor/AP_InertialSensor.cpp
diff --git a/ArduPlane/Plane.cpp b/ArduPlane/Plane.cpp
index 2c594dd2f9..3b20ff4c02 100644
--- a/ArduPlane/Plane.cpp
+++ b/ArduPlane/Plane.cpp
@@ -27,6 +27,10 @@ Plane::Plane(void)
     auto_state.takeoff_complete = true;
     auto_state.next_wp_no_crosstrack = true;
     auto_state.no_crosstrack = true;
+
+    if (plane.g.cli_enabled) {
+        gcs().set_run_cli_func(FUNCTOR_BIND_MEMBER(&Plane::run_cli, void, AP_HAL::UARTDriver *));
+    }
 }
 
 Plane plane;
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 1ea7cf7c5a..afec6b7a5e 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -95,6 +95,7 @@
 #include <AP_Landing/AP_Landing.h>
 
 #include "GCS_Mavlink.h"
+#include "GCS_Plane.h"
 #include "quadplane.h"
 #include "tuning.h"
 
@@ -144,6 +145,7 @@ public:
     friend class AP_Tuning_Plane;
     friend class AP_AdvancedFailsafe_Plane;
     friend class AP_Avoidance_Plane;
+    friend class GCS_Plane;
 
     Plane(void);
 
@@ -250,10 +252,8 @@ private:
 
     // GCS selection
     AP_SerialManager serial_manager;
-    const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
-    GCS_MAVLINK_Plane gcs_chan[MAVLINK_COMM_NUM_BUFFERS];
-    GCS _gcs; // avoid using this; use gcs()
-    GCS &gcs() { return _gcs; }
+    GCS_Plane _gcs; // avoid using this; use gcs()
+    GCS_Plane &gcs() { return _gcs; }
 
     // selected navigation controller
     AP_Navigation *nav_controller = &L1_controller;
diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp
index f18c00ec51..8bdef27dc7 100644
--- a/ArduPlane/system.cpp
+++ b/ArduPlane/system.cpp
@@ -122,7 +122,7 @@ void Plane::init_ardupilot()
 
     // initialise serial ports
     serial_manager.init();
-    gcs_chan[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
+    gcs().chan(0).setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
 
     // Register mavlink_delay_cb, which will run anytime you have
     // more than 5ms remaining in your call to hal.scheduler->delay
@@ -161,9 +161,7 @@ void Plane::init_ardupilot()
     check_usb_mux();
 
     // setup telem slots with serial ports
-    for (uint8_t i = 1; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
-        gcs_chan[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
-    }
+    gcs().setup_uarts(serial_manager);
 
     // setup frsky
 #if FRSKY_TELEM_ENABLED == ENABLED
@@ -229,16 +227,7 @@ void Plane::init_ardupilot()
     hal.scheduler->register_timer_failsafe(failsafe_check_static, 1000);
 
 #if CLI_ENABLED == ENABLED
-    if (g.cli_enabled == 1) {
-        const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
-        cliSerial->printf("%s\n", msg);
-        if (gcs_chan[1].initialised && (gcs_chan[1].get_uart() != nullptr)) {
-            gcs_chan[1].get_uart()->printf("%s\n", msg);
-        }
-        if (num_gcs > 2 && gcs_chan[2].initialised && (gcs_chan[2].get_uart() != nullptr)) {
-            gcs_chan[2].get_uart()->printf("%s\n", msg);
-        }
-    }
+    gcs().handle_interactive_setup();
 #endif // CLI_ENABLED
 
     init_capabilities();
@@ -571,8 +560,8 @@ void Plane::check_long_failsafe()
                    (tnow - failsafe.last_heartbeat_ms) > g.long_fs_timeout*1000) {
             failsafe_long_on_event(FAILSAFE_GCS, MODE_REASON_GCS_FAILSAFE);
         } else if (g.gcs_heartbeat_fs_enabled == GCS_FAILSAFE_HB_RSSI && 
-                   gcs_chan[0].last_radio_status_remrssi_ms != 0 &&
-                   (tnow - gcs_chan[0].last_radio_status_remrssi_ms) > g.long_fs_timeout*1000) {
+                   gcs().chan(0).last_radio_status_remrssi_ms != 0 &&
+                   (tnow - gcs().chan(0).last_radio_status_remrssi_ms) > g.long_fs_timeout*1000) {
             failsafe_long_on_event(FAILSAFE_GCS, MODE_REASON_GCS_FAILSAFE);
         }
     } else {