diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index 8252588fac..b8420c46f7 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -878,7 +878,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             uint8_t result = MAV_RESULT_UNSUPPORTED;
 
             // do command
-            send_text_P(MAV_SEVERITY_WARNING,"command received: ");
+            send_text(MAV_SEVERITY_WARNING,"command received: ");
 
             switch(packet.command) {
 
@@ -1001,7 +1001,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                     }
                 }
                 else {
-                    send_text_P(MAV_SEVERITY_WARNING, "Unsupported preflight calibration");
+                    send_text(MAV_SEVERITY_WARNING, "Unsupported preflight calibration");
                 }
                 break;
 
@@ -1137,10 +1137,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
     case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
         {
             // mark the firmware version in the tlog
-            send_text_P(MAV_SEVERITY_WARNING, FIRMWARE_STRING);
+            send_text(MAV_SEVERITY_WARNING, FIRMWARE_STRING);
 
 #if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
-            send_text_P(MAV_SEVERITY_WARNING, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
+            send_text(MAV_SEVERITY_WARNING, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
 #endif
             handle_param_request_list(msg);
             break;
@@ -1430,7 +1430,7 @@ void Rover::gcs_send_text(MAV_SEVERITY severity, const prog_char_t *str)
 {
     for (uint8_t i=0; i<num_gcs; i++) {
         if (gcs[i].initialised) {
-            gcs[i].send_text_P(severity, str);
+            gcs[i].send_text(severity, str);
     }
     }
 #if LOGGING_ENABLED == ENABLED
diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
index c08b853164..db8106a5aa 100644
--- a/AntennaTracker/GCS_Mavlink.cpp
+++ b/AntennaTracker/GCS_Mavlink.cpp
@@ -599,7 +599,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         uint8_t result = MAV_RESULT_UNSUPPORTED;
         
         // do command
-        send_text_P(MAV_SEVERITY_WARNING,"command received: ");
+        send_text(MAV_SEVERITY_WARNING,"command received: ");
         
         switch(packet.command) {
             
@@ -827,7 +827,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         // check if this is the HOME wp
         if (packet.seq == 0) {
             tracker.set_home(tell_command); // New home in EEPROM
-            send_text_P(MAV_SEVERITY_WARNING,"new HOME received");
+            send_text(MAV_SEVERITY_WARNING,"new HOME received");
             waypoint_receiving = false;
         }
 
@@ -964,7 +964,7 @@ void Tracker::gcs_send_text(MAV_SEVERITY severity, const prog_char_t *str)
 {
     for (uint8_t i=0; i<num_gcs; i++) {
         if (gcs[i].initialised) {
-            gcs[i].send_text_P(severity, str);
+            gcs[i].send_text(severity, str);
         }
     }
 #if LOGGING_ENABLED == ENABLED
diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index dbfb663808..9c6771598b 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -1022,12 +1022,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
     case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:         // MAV ID: 21
     {
         // mark the firmware version in the tlog
-        send_text_P(MAV_SEVERITY_WARNING, FIRMWARE_STRING);
+        send_text(MAV_SEVERITY_WARNING, FIRMWARE_STRING);
 
 #if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
-        send_text_P(MAV_SEVERITY_WARNING, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
+        send_text(MAV_SEVERITY_WARNING, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
 #endif
-        send_text_P(MAV_SEVERITY_WARNING, "Frame: " FRAME_CONFIG_STRING);
+        send_text(MAV_SEVERITY_WARNING, "Frame: " FRAME_CONFIG_STRING);
         handle_param_request_list(msg);
         break;
     }
@@ -1518,13 +1518,13 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         case MAV_CMD_DO_SEND_BANNER: {
             result = MAV_RESULT_ACCEPTED;
 
-            send_text_P(MAV_SEVERITY_WARNING, FIRMWARE_STRING);
+            send_text(MAV_SEVERITY_WARNING, FIRMWARE_STRING);
 
             #if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
-            send_text_P(MAV_SEVERITY_WARNING, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
+            send_text(MAV_SEVERITY_WARNING, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
             #endif
 
-            send_text_P(MAV_SEVERITY_WARNING, "Frame: " FRAME_CONFIG_STRING);
+            send_text(MAV_SEVERITY_WARNING, "Frame: " FRAME_CONFIG_STRING);
 
             #if CONFIG_HAL_BOARD != HAL_BOARD_APM1 && CONFIG_HAL_BOARD != HAL_BOARD_APM2
             // send system ID if we can
@@ -1846,12 +1846,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
         if (packet.idx >= copter.rally.get_rally_total() ||
             packet.idx >= copter.rally.get_rally_max()) {
-            send_text_P(MAV_SEVERITY_WARNING,"bad rally point message ID");
+            send_text(MAV_SEVERITY_WARNING,"bad rally point message ID");
             break;
         }
 
         if (packet.count != copter.rally.get_rally_total()) {
-            send_text_P(MAV_SEVERITY_WARNING,"bad rally point message count");
+            send_text(MAV_SEVERITY_WARNING,"bad rally point message count");
             break;
         }
 
@@ -1864,7 +1864,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         rally_point.flags = packet.flags;
 
         if (!copter.rally.set_rally_point_with_index(packet.idx, rally_point)) {
-            send_text_P(MAV_SEVERITY_CRITICAL, "error setting rally point");
+            send_text(MAV_SEVERITY_CRITICAL, "error setting rally point");
         }
 
         break;
@@ -1872,27 +1872,27 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
     //send a rally point to the GCS
     case MAVLINK_MSG_ID_RALLY_FETCH_POINT: {
-        //send_text_P(MAV_SEVERITY_CRITICAL, "## getting rally point in GCS_Mavlink.cpp 1"); // #### TEMP
+        //send_text(MAV_SEVERITY_CRITICAL, "## getting rally point in GCS_Mavlink.cpp 1"); // #### TEMP
 
         mavlink_rally_fetch_point_t packet;
         mavlink_msg_rally_fetch_point_decode(msg, &packet);
 
-        //send_text_P(MAV_SEVERITY_CRITICAL, "## getting rally point in GCS_Mavlink.cpp 2"); // #### TEMP
+        //send_text(MAV_SEVERITY_CRITICAL, "## getting rally point in GCS_Mavlink.cpp 2"); // #### TEMP
 
         if (packet.idx > copter.rally.get_rally_total()) {
-            send_text_P(MAV_SEVERITY_WARNING, "bad rally point index");
+            send_text(MAV_SEVERITY_WARNING, "bad rally point index");
             break;
         }
 
-        //send_text_P(MAV_SEVERITY_CRITICAL, "## getting rally point in GCS_Mavlink.cpp 3"); // #### TEMP
+        //send_text(MAV_SEVERITY_CRITICAL, "## getting rally point in GCS_Mavlink.cpp 3"); // #### TEMP
 
         RallyLocation rally_point;
         if (!copter.rally.get_rally_point_with_index(packet.idx, rally_point)) {
-           send_text_P(MAV_SEVERITY_WARNING, "failed to set rally point");
+           send_text(MAV_SEVERITY_WARNING, "failed to set rally point");
            break;
         }
 
-        //send_text_P(MAV_SEVERITY_CRITICAL, "## getting rally point in GCS_Mavlink.cpp 4"); // #### TEMP
+        //send_text(MAV_SEVERITY_CRITICAL, "## getting rally point in GCS_Mavlink.cpp 4"); // #### TEMP
 
         mavlink_msg_rally_point_send_buf(msg,
                                          chan, msg->sysid, msg->compid, packet.idx,
@@ -1900,7 +1900,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                                          rally_point.alt, rally_point.break_alt, rally_point.land_dir,
                                          rally_point.flags);
 
-        //send_text_P(MAV_SEVERITY_CRITICAL, "## getting rally point in GCS_Mavlink.cpp 5"); // #### TEMP
+        //send_text(MAV_SEVERITY_CRITICAL, "## getting rally point in GCS_Mavlink.cpp 5"); // #### TEMP
 
         break;
     }
@@ -2034,7 +2034,7 @@ void Copter::gcs_send_text(MAV_SEVERITY severity, const prog_char_t *str)
 {
     for (uint8_t i=0; i<num_gcs; i++) {
         if (gcs[i].initialised) {
-            gcs[i].send_text_P(severity, str);
+            gcs[i].send_text(severity, str);
         }
     }
 }
diff --git a/ArduCopter/compassmot.cpp b/ArduCopter/compassmot.cpp
index e0987eb8dc..c1dc2d4c32 100644
--- a/ArduCopter/compassmot.cpp
+++ b/ArduCopter/compassmot.cpp
@@ -37,7 +37,7 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
 
     // check compass is enabled
     if (!g.compass_enabled) {
-        gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, "compass disabled\n");
+        gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "compass disabled\n");
         ap.compass_mot = false;
         return 1;
     }
@@ -46,7 +46,7 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
     compass.read();
     for (uint8_t i=0; i<compass.get_count(); i++) {
         if (!compass.healthy(i)) {
-            gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, "check compass");
+            gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "check compass");
             ap.compass_mot = false;
             return 1;
         }
@@ -55,7 +55,7 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
     // check if radio is calibrated
     pre_arm_rc_checks();
     if (!ap.pre_arm_rc_check) {
-        gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, "RC not calibrated");
+        gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "RC not calibrated");
         ap.compass_mot = false;
         return 1;
     }
@@ -63,14 +63,14 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
     // check throttle is at zero
     read_radio();
     if (channel_throttle->control_in != 0) {
-        gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, "thr not zero");
+        gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "thr not zero");
         ap.compass_mot = false;
         return 1;
     }
 
     // check we are landed
     if (!ap.land_complete) {
-        gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, "Not landed");
+        gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "Not landed");
         ap.compass_mot = false;
         return 1;
     }
@@ -95,13 +95,13 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
     AP_Notify::flags.esc_calibration = true;
 
     // warn user we are starting calibration
-    gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, "STARTING CALIBRATION");
+    gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "STARTING CALIBRATION");
 
     // inform what type of compensation we are attempting
     if (comp_type == AP_COMPASS_MOT_COMP_CURRENT) {
-        gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, "CURRENT");
+        gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "CURRENT");
     } else{
-        gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, "THROTTLE");
+        gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "THROTTLE");
     }
 
     // disable throttle and battery failsafe
@@ -245,10 +245,10 @@ uint8_t Copter::mavlink_compassmot(mavlink_channel_t chan)
         }
         compass.save_motor_compensation();
         // display success message
-        gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, "Calibration Successful!");
+        gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "Calibration Successful!");
     } else {
         // compensation vector never updated, report failure
-        gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL, "Failed!");
+        gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "Failed!");
         compass.motor_compensation_type(AP_COMPASS_MOT_COMP_DISABLED);
     }
 
diff --git a/ArduCopter/motor_test.cpp b/ArduCopter/motor_test.cpp
index b74205621f..35dcb80942 100644
--- a/ArduCopter/motor_test.cpp
+++ b/ArduCopter/motor_test.cpp
@@ -74,19 +74,19 @@ bool Copter::mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc)
     // check rc has been calibrated
     pre_arm_rc_checks();
     if(check_rc && !ap.pre_arm_rc_check) {
-        gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL,"Motor Test: RC not calibrated");
+        gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL,"Motor Test: RC not calibrated");
         return false;
     }
 
     // ensure we are landed
     if (!ap.land_complete) {
-        gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL,"Motor Test: vehicle not landed");
+        gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL,"Motor Test: vehicle not landed");
         return false;
     }
 
     // check if safety switch has been pushed
     if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
-        gcs[chan-MAVLINK_COMM_0].send_text_P(MAV_SEVERITY_CRITICAL,"Motor Test: Safety Switch");
+        gcs[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL,"Motor Test: Safety Switch");
         return false;
     }
 
diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 53bbc83e32..435df1fedc 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -1135,7 +1135,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         uint8_t result = MAV_RESULT_UNSUPPORTED;
 
         // do command
-        send_text_P(MAV_SEVERITY_WARNING,"command received: ");
+        send_text(MAV_SEVERITY_WARNING,"command received: ");
 
         switch(packet.command) {
 
@@ -1267,7 +1267,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                 }
             }
             else {
-                    send_text_P(MAV_SEVERITY_WARNING, "Unsupported preflight calibration");
+                    send_text(MAV_SEVERITY_WARNING, "Unsupported preflight calibration");
             }
             plane.in_calibration = false;
             break;
@@ -1386,7 +1386,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                 plane.auto_state.commanded_go_around = true;
                
                 result = MAV_RESULT_ACCEPTED;
-                plane.gcs_send_text(MAV_SEVERITY_CRITICAL,"Go around command accepted.");           
+                plane.gcs_send_text(MAV_SEVERITY_CRITICAL,"Go around command accepted.");
             } else {
                 plane.gcs_send_text(MAV_SEVERITY_CRITICAL,"Rejected go around command.");
             }
@@ -1550,10 +1550,10 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
     case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
     {
         // mark the firmware version in the tlog
-        send_text_P(MAV_SEVERITY_WARNING, FIRMWARE_STRING);
+        send_text(MAV_SEVERITY_WARNING, FIRMWARE_STRING);
 
 #if defined(PX4_GIT_VERSION) && defined(NUTTX_GIT_VERSION)
-        send_text_P(MAV_SEVERITY_WARNING, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
+        send_text(MAV_SEVERITY_WARNING, "PX4: " PX4_GIT_VERSION " NuttX: " NUTTX_GIT_VERSION);
 #endif
         handle_param_request_list(msg);
         break;
@@ -1612,11 +1612,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         mavlink_fence_point_t packet;
         mavlink_msg_fence_point_decode(msg, &packet);
         if (plane.g.fence_action != FENCE_ACTION_NONE) {
-            send_text_P(MAV_SEVERITY_WARNING,"fencing must be disabled");
+            send_text(MAV_SEVERITY_WARNING,"fencing must be disabled");
         } else if (packet.count != plane.g.fence_total) {
-            send_text_P(MAV_SEVERITY_WARNING,"bad fence point");
+            send_text(MAV_SEVERITY_WARNING,"bad fence point");
         } else if (fabsf(packet.lat) > 90.0f || fabsf(packet.lng) > 180.0f) {
-            send_text_P(MAV_SEVERITY_WARNING,"invalid fence point, lat or lng too large");
+            send_text(MAV_SEVERITY_WARNING,"invalid fence point, lat or lng too large");
         } else {
             Vector2l point;
             point.x = packet.lat*1.0e7f;
@@ -1631,7 +1631,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         mavlink_fence_fetch_point_t packet;
         mavlink_msg_fence_fetch_point_decode(msg, &packet);
         if (packet.idx >= plane.g.fence_total) {
-            send_text_P(MAV_SEVERITY_WARNING,"bad fence point");
+            send_text(MAV_SEVERITY_WARNING,"bad fence point");
         } else {
             Vector2l point = plane.get_fence_point_with_index(packet.idx);
             mavlink_msg_fence_point_send_buf(msg, chan, msg->sysid, msg->compid, packet.idx, plane.g.fence_total,
@@ -1648,12 +1648,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         
         if (packet.idx >= plane.rally.get_rally_total() || 
             packet.idx >= plane.rally.get_rally_max()) {
-            send_text_P(MAV_SEVERITY_WARNING,"bad rally point message ID");
+            send_text(MAV_SEVERITY_WARNING,"bad rally point message ID");
             break;
         }
 
         if (packet.count != plane.rally.get_rally_total()) {
-            send_text_P(MAV_SEVERITY_WARNING,"bad rally point message count");
+            send_text(MAV_SEVERITY_WARNING,"bad rally point message count");
             break;
         }
 
@@ -1673,12 +1673,12 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         mavlink_rally_fetch_point_t packet;
         mavlink_msg_rally_fetch_point_decode(msg, &packet);
         if (packet.idx > plane.rally.get_rally_total()) {
-            send_text_P(MAV_SEVERITY_WARNING, "bad rally point index");   
+            send_text(MAV_SEVERITY_WARNING, "bad rally point index");
             break;
         }
         RallyLocation rally_point;
         if (!plane.rally.get_rally_point_with_index(packet.idx, rally_point)) {
-            send_text_P(MAV_SEVERITY_WARNING, "failed to set rally point");   
+            send_text(MAV_SEVERITY_WARNING, "failed to set rally point");
             break;
         }
 
@@ -1996,7 +1996,7 @@ void Plane::gcs_send_text(MAV_SEVERITY severity, const prog_char_t *str)
 {
     for (uint8_t i=0; i<num_gcs; i++) {
         if (gcs[i].initialised) {
-            gcs[i].send_text_P(severity, str);
+            gcs[i].send_text(severity, str);
         }
     }
 #if LOGGING_ENABLED == ENABLED