diff --git a/libraries/AP_Proximity/AP_Proximity.cpp b/libraries/AP_Proximity/AP_Proximity.cpp
index 8d09d4abf2..bba180b55b 100644
--- a/libraries/AP_Proximity/AP_Proximity.cpp
+++ b/libraries/AP_Proximity/AP_Proximity.cpp
@@ -269,7 +269,7 @@ AP_Proximity::Proximity_Status AP_Proximity::get_status() const
 }
 
 // handle mavlink DISTANCE_SENSOR messages
-void AP_Proximity::handle_msg(mavlink_message_t *msg)
+void AP_Proximity::handle_msg(const mavlink_message_t &msg)
 {
     for (uint8_t i=0; i<num_instances; i++) {
         if ((drivers[i] != nullptr) && (_type[i] != Proximity_Type_None)) {
diff --git a/libraries/AP_Proximity/AP_Proximity.h b/libraries/AP_Proximity/AP_Proximity.h
index c59086cea4..1d35418f38 100644
--- a/libraries/AP_Proximity/AP_Proximity.h
+++ b/libraries/AP_Proximity/AP_Proximity.h
@@ -128,7 +128,7 @@ public:
     float distance_min() const;
 
     // handle mavlink DISTANCE_SENSOR messages
-    void handle_msg(mavlink_message_t *msg);
+    void handle_msg(const mavlink_message_t &msg);
 
     // The Proximity_State structure is filled in by the backend driver
     struct Proximity_State {
diff --git a/libraries/AP_Proximity/AP_Proximity_Backend.h b/libraries/AP_Proximity/AP_Proximity_Backend.h
index da2ef80ea4..15ecd32a8f 100644
--- a/libraries/AP_Proximity/AP_Proximity_Backend.h
+++ b/libraries/AP_Proximity/AP_Proximity_Backend.h
@@ -43,7 +43,7 @@ public:
     virtual bool get_upward_distance(float &distance) const { return false; }
 
     // handle mavlink DISTANCE_SENSOR messages
-    virtual void handle_msg(mavlink_message_t *msg) {}
+    virtual void handle_msg(const mavlink_message_t &msg) {}
 
     // get distance in meters in a particular direction in degrees (0 is forward, clockwise)
     // returns true on successful read and places distance in distance
diff --git a/libraries/AP_Proximity/AP_Proximity_MAV.cpp b/libraries/AP_Proximity/AP_Proximity_MAV.cpp
index d6660aca8f..d38240e2cb 100644
--- a/libraries/AP_Proximity/AP_Proximity_MAV.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_MAV.cpp
@@ -57,11 +57,11 @@ bool AP_Proximity_MAV::get_upward_distance(float &distance) const
 }
 
 // handle mavlink DISTANCE_SENSOR messages
-void AP_Proximity_MAV::handle_msg(mavlink_message_t *msg)
+void AP_Proximity_MAV::handle_msg(const mavlink_message_t &msg)
 {
-    if (msg->msgid == MAVLINK_MSG_ID_DISTANCE_SENSOR) {
+    if (msg.msgid == MAVLINK_MSG_ID_DISTANCE_SENSOR) {
         mavlink_distance_sensor_t packet;
-        mavlink_msg_distance_sensor_decode(msg, &packet);
+        mavlink_msg_distance_sensor_decode(&msg, &packet);
 
         // store distance to appropriate sector based on orientation field
         if (packet.orientation <= MAV_SENSOR_ROTATION_YAW_315) {
@@ -83,9 +83,9 @@ void AP_Proximity_MAV::handle_msg(mavlink_message_t *msg)
         return;
     }
 
-    if (msg->msgid == MAVLINK_MSG_ID_OBSTACLE_DISTANCE) {
+    if (msg.msgid == MAVLINK_MSG_ID_OBSTACLE_DISTANCE) {
         mavlink_obstacle_distance_t packet;
-        mavlink_msg_obstacle_distance_decode(msg, &packet);
+        mavlink_msg_obstacle_distance_decode(&msg, &packet);
 
         // check increment (message's sector width)
         float increment;
diff --git a/libraries/AP_Proximity/AP_Proximity_MAV.h b/libraries/AP_Proximity/AP_Proximity_MAV.h
index d558bd97d9..26e0f698fa 100644
--- a/libraries/AP_Proximity/AP_Proximity_MAV.h
+++ b/libraries/AP_Proximity/AP_Proximity_MAV.h
@@ -21,7 +21,7 @@ public:
     bool get_upward_distance(float &distance) const override;
 
     // handle mavlink DISTANCE_SENSOR messages
-    void handle_msg(mavlink_message_t *msg) override;
+    void handle_msg(const mavlink_message_t &msg) override;
 
 private: