diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 43a8d1b186..292133aa93 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -1330,30 +1330,6 @@ void GCS_MAVLINK_Plane::handleMessage(mavlink_message_t* msg)
             }
             break;
 
-        case MAV_CMD_DO_SET_SERVO:
-            if (plane.ServoRelayEvents.do_set_servo(packet.param1, packet.param2)) {
-                result = MAV_RESULT_ACCEPTED;
-            }
-            break;
-
-        case MAV_CMD_DO_REPEAT_SERVO:
-            if (plane.ServoRelayEvents.do_repeat_servo(packet.param1, packet.param2, packet.param3, packet.param4*1000)) {
-                result = MAV_RESULT_ACCEPTED;
-            }
-            break;
-
-        case MAV_CMD_DO_SET_RELAY:
-            if (plane.ServoRelayEvents.do_set_relay(packet.param1, packet.param2)) {
-                result = MAV_RESULT_ACCEPTED;
-            }
-            break;
-
-        case MAV_CMD_DO_REPEAT_RELAY:
-            if (plane.ServoRelayEvents.do_repeat_relay(packet.param1, packet.param2, packet.param3*1000)) {
-                result = MAV_RESULT_ACCEPTED;
-            }
-            break;
-
         case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
             result = handle_preflight_reboot(packet, plane.quadplane.enable != 0);
             break;
@@ -2061,6 +2037,11 @@ void GCS_MAVLINK_Plane::handle_mission_set_current(AP_Mission &mission, mavlink_
     }
 }
 
+AP_ServoRelayEvents *GCS_MAVLINK_Plane::get_servorelayevents() const
+{
+    return &plane.ServoRelayEvents;
+}
+
 AP_Rally *GCS_MAVLINK_Plane::get_rally() const
 {
     return &plane.rally;
diff --git a/ArduPlane/GCS_Mavlink.h b/ArduPlane/GCS_Mavlink.h
index d501b89008..497b91ff43 100644
--- a/ArduPlane/GCS_Mavlink.h
+++ b/ArduPlane/GCS_Mavlink.h
@@ -21,6 +21,7 @@ protected:
     AP_Mission *get_mission() override;
     void handle_mission_set_current(AP_Mission &mission, mavlink_message_t *msg) override;
 
+    AP_ServoRelayEvents *get_servorelayevents() const override;
     AP_Rally *get_rally() const override;
 
     uint8_t sysid_my_gcs() const override;