diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index b737b509f5..c94ad0109e 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -461,8 +461,7 @@ static void fast_loop()
 
     // try to send any deferred messages if the serial port now has
     // some space available    
-    gcs.send_message(MSG_RETRY_DEFERRED);
-    hil.send_message(MSG_RETRY_DEFERRED);
+    gcs_send_message(MSG_RETRY_DEFERRED);
 
 	// check for loss of control signal failsafe condition
 	// ------------------------------------
@@ -519,8 +518,7 @@ static void fast_loop()
 
 	gcs.update();
     hil.update();
-    gcs.data_stream_send(45,1000);
-    hil.data_stream_send(45,1000);
+    gcs_data_stream_send(45,1000);
 }
 
 static void medium_loop()
@@ -613,8 +611,7 @@ Serial.println(tempaccel.z, DEC);
 
             // send all requested output streams with rates requested
             // between 5 and 45 Hz
-            gcs.data_stream_send(5,45);
-            hil.data_stream_send(5,45);
+            gcs_data_stream_send(5,45);
 			break;
 
 		// This case controls the slow loop
@@ -673,8 +670,7 @@ static void slow_loop()
 			update_events();
 
             mavlink_system.sysid = g.sysid_this_mav;		// This is just an ugly hack to keep mavlink_system.sysid sync'd with our parameter
-            gcs.data_stream_send(3,5);
-            hil.data_stream_send(3,5);
+            gcs_data_stream_send(3,5);
 			break;
 	}
 }
@@ -685,10 +681,8 @@ static void one_second_loop()
 		Log_Write_Current();
 
 	// send a heartbeat
-	gcs.send_message(MSG_HEARTBEAT);
-    hil.send_message(MSG_HEARTBEAT);
-    gcs.data_stream_send(1,3);
-    hil.data_stream_send(1,3);
+	gcs_send_message(MSG_HEARTBEAT);
+    gcs_data_stream_send(1,3);
 }
 
 static void update_GPS(void)
@@ -697,13 +691,6 @@ static void update_GPS(void)
 	update_GPS_light();
 
 	if (g_gps->new_data && g_gps->fix) {
-
-// XXX We should be sending GPS data off one of the regular loops so that we send
-// no-GPS-fix data too
-#if GCS_PROTOCOL != GCS_PROTOCOL_MAVLINK
-		gcs.send_message(MSG_LOCATION);
-#endif
-
 		// for performance
 		// ---------------
 		gps_fix_count++;
diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 02340f9f7e..edae129e91 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -1110,10 +1110,8 @@ static void mavlink_delay(unsigned long t)
         unsigned long tnow = millis();
         if (tnow - last_1hz > 1000) {
             last_1hz = tnow;
-            gcs.send_message(MSG_HEARTBEAT);
-            hil.send_message(MSG_HEARTBEAT);
-            gcs.send_message(MSG_EXTENDED_STATUS1);
-            hil.send_message(MSG_EXTENDED_STATUS1);
+            gcs_send_message(MSG_HEARTBEAT);
+            gcs_send_message(MSG_EXTENDED_STATUS1);
         }
         if (tnow - last_50hz > 20) {
             last_50hz = tnow;
@@ -1125,3 +1123,21 @@ static void mavlink_delay(unsigned long t)
 
     in_mavlink_delay = false;
 }
+
+/*
+  send a message on both GCS links
+ */
+static void gcs_send_message(enum ap_message id)
+{
+    gcs.send_message(id);
+    hil.send_message(id);
+}
+
+/*
+  send data streams in the given rate range on both links
+ */
+static void gcs_data_stream_send(uint16_t freqMin, uint16_t freqMax)
+{
+    gcs.data_stream_send(freqMin, freqMax);
+    hil.data_stream_send(freqMin, freqMax);
+}
diff --git a/ArduPlane/commands_logic.pde b/ArduPlane/commands_logic.pde
index 7da8327970..55e636d584 100644
--- a/ArduPlane/commands_logic.pde
+++ b/ArduPlane/commands_logic.pde
@@ -206,9 +206,6 @@ static void do_RTL(void)
 	// -------------------------
 	next_WP.alt = read_alt_to_hold();
 
-	// output control mode to the ground station
-	gcs.send_message(MSG_HEARTBEAT);
-
 	if (g.log_bitmask & MASK_LOG_MODE)
 		Log_Write_Mode(control_mode);
 }
diff --git a/ArduPlane/planner.pde b/ArduPlane/planner.pde
index 3154f18084..4b3f649b77 100644
--- a/ArduPlane/planner.pde
+++ b/ArduPlane/planner.pde
@@ -33,15 +33,13 @@ planner_gcs(uint8_t argc, const Menu::arg *argv)
       fast_loopTimer      = millis();
       
       gcs.update();
-#if GCS_PROTOCOL == GCS_PROTOCOL_MAVLINK
-    gcs.data_stream_send(45,1000);
-    if ((loopcount % 5) == 0) // 10 hz
-      gcs.data_stream_send(5,45);
-    if ((loopcount % 16) == 0) { // 3 hz
-      gcs.data_stream_send(1,5);
-      gcs.send_message(MSG_HEARTBEAT); 
-    }
-#endif
+      gcs_data_stream_send(45,1000);
+      if ((loopcount % 5) == 0) // 10 hz
+          gcs_data_stream_send(5,45);
+      if ((loopcount % 16) == 0) { // 3 hz
+          gcs_data_stream_send(1,5);
+          gcs_send_message(MSG_HEARTBEAT);
+      }
       loopcount++;
     }
   }