diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index e4b0f68796..6d7a521a66 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -1175,36 +1175,21 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
     }
 }
 
+// this is called on receipt of a MANUAL_CONTROL packet and is
+// expected to call manual_override to override RC input on desired
+// axes.
+void GCS_MAVLINK_Plane::handle_manual_control_axes(const mavlink_manual_control_t &packet, const uint32_t tnow)
+{
+    manual_override(plane.channel_roll, packet.y, 1000, 2000, tnow);
+    manual_override(plane.channel_pitch, packet.x, 1000, 2000, tnow, true);
+    manual_override(plane.channel_throttle, packet.z, 0, 1000, tnow);
+    manual_override(plane.channel_rudder, packet.r, 1000, 2000, tnow);
+}
+
 void GCS_MAVLINK_Plane::handleMessage(const mavlink_message_t &msg)
 {
     switch (msg.msgid) {
 
-    case MAVLINK_MSG_ID_MANUAL_CONTROL:
-    {
-        if (msg.sysid != plane.g.sysid_my_gcs) {
-            break; // only accept control from our gcs
-        }
-
-        mavlink_manual_control_t packet;
-        mavlink_msg_manual_control_decode(&msg, &packet);
-
-        if (packet.target != plane.g.sysid_this_mav) {
-            break; // only accept messages aimed at us
-        }
-
-        uint32_t tnow = AP_HAL::millis();
-
-        manual_override(plane.channel_roll, packet.y, 1000, 2000, tnow);
-        manual_override(plane.channel_pitch, packet.x, 1000, 2000, tnow, true);
-        manual_override(plane.channel_throttle, packet.z, 0, 1000, tnow);
-        manual_override(plane.channel_rudder, packet.r, 1000, 2000, tnow);
-
-        // a manual control message is considered to be a 'heartbeat'
-        // from the ground station for failsafe purposes
-        gcs().sysid_myggcs_seen(tnow);
-        break;
-    }
-
     case MAVLINK_MSG_ID_RADIO:
     case MAVLINK_MSG_ID_RADIO_STATUS:
     {
diff --git a/ArduPlane/GCS_Mavlink.h b/ArduPlane/GCS_Mavlink.h
index 4b7304bb92..954b881847 100644
--- a/ArduPlane/GCS_Mavlink.h
+++ b/ArduPlane/GCS_Mavlink.h
@@ -40,6 +40,8 @@ protected:
     void send_nav_controller_output() const override;
     void send_pid_tuning() override;
 
+    void handle_manual_control_axes(const mavlink_manual_control_t &packet, const uint32_t tnow) override;
+
 private:
 
     void send_pid_info(const AP_PIDInfo *pid_info, const uint8_t axis, const float achieved);