diff --git a/libraries/AP_Terrain/AP_Terrain.h b/libraries/AP_Terrain/AP_Terrain.h
index b2e29dc674..1d1d3ac47f 100644
--- a/libraries/AP_Terrain/AP_Terrain.h
+++ b/libraries/AP_Terrain/AP_Terrain.h
@@ -103,9 +103,9 @@ public:
 
     // handle terrain data and reports from GCS
     void send_terrain_report(mavlink_channel_t chan, const Location &loc, bool extrapolate);
-    void handle_data(mavlink_channel_t chan, mavlink_message_t *msg);
-    void handle_terrain_check(mavlink_channel_t chan, mavlink_message_t *msg);
-    void handle_terrain_data(mavlink_message_t *msg);
+    void handle_data(mavlink_channel_t chan, const mavlink_message_t &msg);
+    void handle_terrain_check(mavlink_channel_t chan, const mavlink_message_t &msg);
+    void handle_terrain_data(const mavlink_message_t &msg);
 
     /*
       find the terrain height in meters above sea level for a location
diff --git a/libraries/AP_Terrain/TerrainGCS.cpp b/libraries/AP_Terrain/TerrainGCS.cpp
index e25a71fb41..bc77579f13 100644
--- a/libraries/AP_Terrain/TerrainGCS.cpp
+++ b/libraries/AP_Terrain/TerrainGCS.cpp
@@ -188,11 +188,11 @@ void AP_Terrain::get_statistics(uint16_t &pending, uint16_t &loaded)
 /* 
    handle terrain messages from GCS
  */
-void AP_Terrain::handle_data(mavlink_channel_t chan, mavlink_message_t *msg)
+void AP_Terrain::handle_data(mavlink_channel_t chan, const mavlink_message_t &msg)
 {
-    if (msg->msgid == MAVLINK_MSG_ID_TERRAIN_DATA) {
+    if (msg.msgid == MAVLINK_MSG_ID_TERRAIN_DATA) {
         handle_terrain_data(msg);
-    } else if (msg->msgid == MAVLINK_MSG_ID_TERRAIN_CHECK) {
+    } else if (msg.msgid == MAVLINK_MSG_ID_TERRAIN_CHECK) {
         handle_terrain_check(chan, msg);
     }
 }
@@ -243,10 +243,10 @@ void AP_Terrain::send_terrain_report(mavlink_channel_t chan, const Location &loc
 /* 
    handle TERRAIN_CHECK messages from GCS
  */
-void AP_Terrain::handle_terrain_check(mavlink_channel_t chan, mavlink_message_t *msg)
+void AP_Terrain::handle_terrain_check(mavlink_channel_t chan, const mavlink_message_t &msg)
 {
     mavlink_terrain_check_t packet;
-    mavlink_msg_terrain_check_decode(msg, &packet);
+    mavlink_msg_terrain_check_decode(&msg, &packet);
     Location loc;
     loc.lat = packet.lat;
     loc.lng = packet.lon;
@@ -256,10 +256,10 @@ void AP_Terrain::handle_terrain_check(mavlink_channel_t chan, mavlink_message_t
 /* 
    handle TERRAIN_DATA messages from GCS
  */
-void AP_Terrain::handle_terrain_data(mavlink_message_t *msg)
+void AP_Terrain::handle_terrain_data(const mavlink_message_t &msg)
 {
     mavlink_terrain_data_t packet;
-    mavlink_msg_terrain_data_decode(msg, &packet);
+    mavlink_msg_terrain_data_decode(&msg, &packet);
 
     uint16_t i;
     for (i=0; i<cache_size; i++) {