diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index 1db8dff0b6..fc8fa135af 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -1415,6 +1415,15 @@ AP_ServoRelayEvents *GCS_MAVLINK_Rover::get_servorelayevents() const
     return &rover.ServoRelayEvents;
 }
 
+AP_AdvancedFailsafe *GCS_MAVLINK_Rover::get_advanced_failsafe() const
+{
+#if ADVANCED_FAILSAFE == ENABLED
+    return &rover.g2.afs;
+#else
+    return nullptr;
+#endif
+}
+
 Compass *GCS_MAVLINK_Rover::get_compass() const
 {
     return &rover.compass;
diff --git a/APMrover2/GCS_Mavlink.h b/APMrover2/GCS_Mavlink.h
index 49225501a9..bcf8193afc 100644
--- a/APMrover2/GCS_Mavlink.h
+++ b/APMrover2/GCS_Mavlink.h
@@ -22,6 +22,7 @@ protected:
     AP_Camera *get_camera() const override;
     AP_ServoRelayEvents *get_servorelayevents() const override;
     AP_GPS *get_gps() const override;
+    AP_AdvancedFailsafe *get_advanced_failsafe() const override;
 
     uint8_t sysid_my_gcs() const override;