diff --git a/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp b/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
index 57a3046fc8..bb5a1ba4f8 100644
--- a/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
+++ b/libraries/AP_Motors/AP_MotorsHeli_RSC.cpp
@@ -313,12 +313,12 @@ void AP_MotorsHeli_RSC::output(RotorControlState state)
                 _idle_throttle = constrain_float( get_arot_idle_output(), 0.0f, 0.4f);
             }
             if (!_autorotating) {
-                gcs().send_text(MAV_SEVERITY_CRITICAL, "Autorotation");
+                GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Autorotation");
                 _autorotating =true;
             }
         } else {
             if (_autorotating) {
-                gcs().send_text(MAV_SEVERITY_CRITICAL, "Autorotation Stopped");
+                GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Autorotation Stopped");
                 _autorotating =false;
             }
             // set rotor control speed to idle speed parameter, this happens instantly and ignores ramping
@@ -326,7 +326,7 @@ void AP_MotorsHeli_RSC::output(RotorControlState state)
                 _idle_throttle += 0.001f;
                 if (_control_output >= 1.0f) {
                     _idle_throttle = get_idle_output();
-                    gcs().send_text(MAV_SEVERITY_INFO, "Turbine startup");
+                    GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Turbine startup");
                     _starting = false;
                 }
             } else {
@@ -408,7 +408,7 @@ void AP_MotorsHeli_RSC::update_rotor_ramp(float rotor_ramp_input, float dt)
     if (_rotor_ramp_output < rotor_ramp_input) {
         if (_use_bailout_ramp) {
             if (!_bailing_out) {
-                gcs().send_text(MAV_SEVERITY_CRITICAL, "bailing_out");
+                GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "bailing_out");
                 _bailing_out = true;
                 if (_control_mode == ROTOR_CONTROL_MODE_AUTOTHROTTLE) {_gov_bailing_out = true;}
             }
@@ -563,9 +563,9 @@ void AP_MotorsHeli_RSC::autothrottle_run()
                 governor_reset();
                 _governor_fault = true;
                 if (_rotor_rpm >= (_governor_rpm + _governor_range)) {
-                    gcs().send_text(MAV_SEVERITY_WARNING, "Governor Fault: Rotor Overspeed");
+                    GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Governor Fault: Rotor Overspeed");
                 } else {
-                    gcs().send_text(MAV_SEVERITY_WARNING, "Governor Fault: Rotor Underspeed");
+                    GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Governor Fault: Rotor Underspeed");
                 }
             }
         } else {
@@ -577,7 +577,7 @@ void AP_MotorsHeli_RSC::autothrottle_run()
         if (_rotor_rpm > (_governor_rpm + _governor_range) && !_gov_bailing_out) {
             _governor_fault = true;
             governor_reset();
-            gcs().send_text(MAV_SEVERITY_WARNING, "Governor Fault: Rotor Overspeed");
+            GCS_SEND_TEXT(MAV_SEVERITY_WARNING, "Governor Fault: Rotor Overspeed");
             _governor_output = 0.0f;
 
         // when performing power recovery from autorotation, this waits for user to load rotor in order to 
@@ -594,7 +594,7 @@ void AP_MotorsHeli_RSC::autothrottle_run()
                 _governor_engage = true;
                 _autothrottle = true;
                 _gov_bailing_out = false;
-                gcs().send_text(MAV_SEVERITY_NOTICE, "Governor Engaged");
+                GCS_SEND_TEXT(MAV_SEVERITY_NOTICE, "Governor Engaged");
             }
         } else {
             // temporary use of throttle curve and ramp timer to accelerate rotor to governor min torque rise speed