diff --git a/libraries/AC_PrecLand/AC_PrecLand.cpp b/libraries/AC_PrecLand/AC_PrecLand.cpp
index 8a64f5625f..07932c61ad 100644
--- a/libraries/AC_PrecLand/AC_PrecLand.cpp
+++ b/libraries/AC_PrecLand/AC_PrecLand.cpp
@@ -403,7 +403,7 @@ bool AC_PrecLand::target_acquired()
     if ((AP_HAL::millis()-_last_update_ms) > LANDING_TARGET_TIMEOUT_MS) {
         if (_target_acquired) {
             // just lost the landing target, inform the user. This message will only be sent once every time target is lost
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "PrecLand: Target Lost");
+            GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "PrecLand: Target Lost");
         }
         // not had a sensor update since a long time
         // probably lost the target
@@ -515,7 +515,7 @@ void AC_PrecLand::run_estimator(float rangefinder_alt_m, bool rangefinder_alt_va
             // Update if a new Line-Of-Sight measurement is available
             if (construct_pos_meas_using_rangefinder(rangefinder_alt_m, rangefinder_alt_valid)) {
                 if (!_estimator_initialized) {
-                    gcs().send_text(MAV_SEVERITY_INFO, "PrecLand: Target Found");
+                    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "PrecLand: Target Found");
                     _estimator_initialized = true;
                 }
                 _target_pos_rel_est_NE.x = _target_pos_rel_meas_NED.x;
@@ -548,7 +548,7 @@ void AC_PrecLand::run_estimator(float rangefinder_alt_m, bool rangefinder_alt_va
                 float xy_pos_var = sq(_target_pos_rel_meas_NED.z*(0.01f + 0.01f*AP::ahrs().get_gyro().length()) + 0.02f);
                 if (!_estimator_initialized) {
                     // Inform the user landing target has been found
-                    gcs().send_text(MAV_SEVERITY_INFO, "PrecLand: Target Found");
+                    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "PrecLand: Target Found");
                     // start init of EKF. We will let the filter consume the data for a while before it available for consumption
                     // reset filter state
                     if (_inertial_data_delayed->inertialNavVelocityValid) {
@@ -604,11 +604,11 @@ void AC_PrecLand::check_ekf_init_timeout()
         if (AP_HAL::millis()-_last_update_ms > EKF_INIT_SENSOR_MIN_UPDATE_MS) {
             // we have lost the target, not enough readings to initialize the EKF
             _estimator_initialized = false;
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "PrecLand: Init Failed");
+            GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "PrecLand: Init Failed");
         } else if (AP_HAL::millis()-_estimator_init_ms > EKF_INIT_TIME_MS) {
             // the target has been visible for a while, EKF should now have initialized to a good value
             _target_acquired = true;
-            gcs().send_text(MAV_SEVERITY_INFO, "PrecLand: Init Complete");
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "PrecLand: Init Complete");
         }
     }
 }
diff --git a/libraries/AC_PrecLand/AC_PrecLand_Companion.cpp b/libraries/AC_PrecLand/AC_PrecLand_Companion.cpp
index afb603a7f0..1183626467 100644
--- a/libraries/AC_PrecLand/AC_PrecLand_Companion.cpp
+++ b/libraries/AC_PrecLand/AC_PrecLand_Companion.cpp
@@ -47,7 +47,7 @@ void AC_PrecLand_Companion::handle_msg(const mavlink_landing_target_t &packet, u
             //we do not support this frame
             if (!_wrong_frame_msg_sent) {
                 _wrong_frame_msg_sent = true;
-                gcs().send_text(MAV_SEVERITY_INFO,"Plnd: Frame not supported ");
+                GCS_SEND_TEXT(MAV_SEVERITY_INFO,"Plnd: Frame not supported ");
             }
             return;
         }
diff --git a/libraries/AC_PrecLand/AC_PrecLand_StateMachine.cpp b/libraries/AC_PrecLand/AC_PrecLand_StateMachine.cpp
index 0d38584cee..c25c51e8d0 100644
--- a/libraries/AC_PrecLand/AC_PrecLand_StateMachine.cpp
+++ b/libraries/AC_PrecLand/AC_PrecLand_StateMachine.cpp
@@ -186,7 +186,7 @@ AC_PrecLand_StateMachine::Status AC_PrecLand_StateMachine::retry_landing(Vector3
         _retry_state = RetryLanding::IN_PROGRESS;
         // inform the user what we are doing
         if (_retry_count <= _precland->get_max_retry_allowed()) {
-            gcs().send_text(MAV_SEVERITY_INFO, "PrecLand: Retrying");
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "PrecLand: Retrying");
         }
         retry_pos_m = go_to_pos;
         return Status::RETRYING;
@@ -219,7 +219,7 @@ AC_PrecLand_StateMachine::Status AC_PrecLand_StateMachine::retry_landing(Vector3
         if (fabsf(pos.z - retry_pos_m.z) < MAX_POS_ERROR_M) {
             // we have descended to the original height where we started the climb from
             _retry_state = RetryLanding::COMPLETE;
-            gcs().send_text(MAV_SEVERITY_INFO, "PrecLand: Retry Completed");
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "PrecLand: Retry Completed");
         }
         return Status::RETRYING;
     }
@@ -249,7 +249,7 @@ AC_PrecLand_StateMachine::FailSafeAction AC_PrecLand_StateMachine::get_failsafe_
         // start the timer
         failsafe_start_ms = AP_HAL::millis();
         failsafe_initialized = true;
-        gcs().send_text(MAV_SEVERITY_INFO, "PrecLand: Failsafe Measures");
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "PrecLand: Failsafe Measures");
     }
 
     // Depending on the strictness we will either land vertically, wait for some time and then land vertically, not land at all