diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index c644b15e79..85fe98cfb0 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -281,7 +281,7 @@ void GCS_MAVLINK_Rover::send_pid_tuning()
     }
 }
 
-void Rover::send_wheel_encoder_distance(mavlink_channel_t chan)
+void Rover::send_wheel_encoder_distance(const mavlink_channel_t chan)
 {
     // send wheel encoder data using wheel_distance message
     if (g2.wheel_encoder.num_sensors() > 0) {
@@ -338,7 +338,7 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
     return true;
 }
 
-void GCS_MAVLINK_Rover::packetReceived(const mavlink_status_t &status, mavlink_message_t &msg)
+void GCS_MAVLINK_Rover::packetReceived(const mavlink_status_t &status, const mavlink_message_t &msg)
 {
     // pass message to follow library
     rover.g2.follow.handle_msg(msg);
@@ -653,27 +653,27 @@ MAV_RESULT GCS_MAVLINK_Rover::handle_command_long_packet(const mavlink_command_l
 
 
 // a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes
-void GCS_MAVLINK_Rover::handle_rc_channels_override(const mavlink_message_t *msg)
+void GCS_MAVLINK_Rover::handle_rc_channels_override(const mavlink_message_t &msg)
 {
     rover.failsafe.last_heartbeat_ms = AP_HAL::millis();
     GCS_MAVLINK::handle_rc_channels_override(msg);
 }
 
 
-void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
+void GCS_MAVLINK_Rover::handleMessage(const mavlink_message_t &msg)
 {
-    switch (msg->msgid) {
+    switch (msg.msgid) {
 
     
 
     case MAVLINK_MSG_ID_MANUAL_CONTROL:
     {
-        if (msg->sysid != rover.g.sysid_my_gcs) {  // Only accept control from our gcs
+        if (msg.sysid != rover.g.sysid_my_gcs) {  // Only accept control from our gcs
             break;
         }
 
         mavlink_manual_control_t packet;
-        mavlink_msg_manual_control_decode(msg, &packet);
+        mavlink_msg_manual_control_decode(&msg, &packet);
 
         if (packet.target != rover.g.sysid_this_mav) {
             break; // only accept control aimed at us
@@ -692,7 +692,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
     case MAVLINK_MSG_ID_HEARTBEAT:
         {
             // we keep track of the last time we received a heartbeat from our GCS for failsafe purposes
-            if (msg->sysid != rover.g.sysid_my_gcs) {
+            if (msg.sysid != rover.g.sysid_my_gcs) {
                 break;
             }
             rover.failsafe.last_heartbeat_ms = AP_HAL::millis();
@@ -703,7 +703,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
         {
             // decode packet
             mavlink_set_attitude_target_t packet;
-            mavlink_msg_set_attitude_target_decode(msg, &packet);
+            mavlink_msg_set_attitude_target_decode(&msg, &packet);
 
             // exit if vehicle is not in Guided mode
             if (!rover.control_mode->in_guided_mode()) {
@@ -735,7 +735,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
         {
             // decode packet
             mavlink_set_position_target_local_ned_t packet;
-            mavlink_msg_set_position_target_local_ned_decode(msg, &packet);
+            mavlink_msg_set_position_target_local_ned_decode(&msg, &packet);
 
             // exit if vehicle is not in Guided mode
             if (!rover.control_mode->in_guided_mode()) {
@@ -855,7 +855,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
         {
             // decode packet
             mavlink_set_position_target_global_int_t packet;
-            mavlink_msg_set_position_target_global_int_decode(msg, &packet);
+            mavlink_msg_set_position_target_global_int_decode(&msg, &packet);
 
             // exit if vehicle is not in Guided mode
             if (!rover.control_mode->in_guided_mode()) {
@@ -960,7 +960,7 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
     case MAVLINK_MSG_ID_HIL_STATE:
         {
             mavlink_hil_state_t packet;
-            mavlink_msg_hil_state_decode(msg, &packet);
+            mavlink_msg_hil_state_decode(&msg, &packet);
 
             // sanity check location
             if (!check_latlng(packet.lat, packet.lon)) {
diff --git a/APMrover2/GCS_Mavlink.h b/APMrover2/GCS_Mavlink.h
index 81e0dca5c8..affe687e67 100644
--- a/APMrover2/GCS_Mavlink.h
+++ b/APMrover2/GCS_Mavlink.h
@@ -36,13 +36,13 @@ protected:
 
 private:
 
-    void handleMessage(mavlink_message_t * msg) override;
+    void handleMessage(const mavlink_message_t &msg) override;
     bool handle_guided_request(AP_Mission::Mission_Command &cmd) override;
     void handle_change_alt_request(AP_Mission::Mission_Command &cmd) override;
-    void handle_rc_channels_override(const mavlink_message_t *msg) override;
+    void handle_rc_channels_override(const mavlink_message_t &msg) override;
     bool try_send_message(enum ap_message id) override;
 
-    void packetReceived(const mavlink_status_t &status, mavlink_message_t &msg) override;
+    void packetReceived(const mavlink_status_t &status, const mavlink_message_t &msg) override;
 
     MAV_MODE base_mode() const override;
     MAV_STATE system_status() const override;