diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index 52da7be892..e8759ae502 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -965,30 +965,6 @@ void GCS_MAVLINK_Rover::handleMessage(mavlink_message_t* msg)
             }
             break;
 
-        case MAV_CMD_DO_SET_SERVO:
-            if (rover.ServoRelayEvents.do_set_servo(packet.param1, packet.param2)) {
-                result = MAV_RESULT_ACCEPTED;
-            }
-            break;
-
-        case MAV_CMD_DO_REPEAT_SERVO:
-            if (rover.ServoRelayEvents.do_repeat_servo(packet.param1, packet.param2, packet.param3, packet.param4 * 1000)) {
-                result = MAV_RESULT_ACCEPTED;
-            }
-            break;
-
-        case MAV_CMD_DO_SET_RELAY:
-            if (rover.ServoRelayEvents.do_set_relay(packet.param1, packet.param2)) {
-                result = MAV_RESULT_ACCEPTED;
-            }
-            break;
-
-        case MAV_CMD_DO_REPEAT_RELAY:
-            if (rover.ServoRelayEvents.do_repeat_relay(packet.param1, packet.param2, packet.param3 * 1000)) {
-                result = MAV_RESULT_ACCEPTED;
-            }
-            break;
-
         case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
             if (is_equal(packet.param1, 1.0f) || is_equal(packet.param1, 3.0f)) {
                 // when packet.param1 == 3 we reboot to hold in bootloader
@@ -1560,6 +1536,11 @@ bool GCS_MAVLINK_Rover::accept_packet(const mavlink_status_t &status, mavlink_me
     return (msg.sysid == rover.g.sysid_my_gcs);
 }
 
+AP_ServoRelayEvents *GCS_MAVLINK_Rover::get_servorelayevents() const
+{
+    return &rover.ServoRelayEvents;
+}
+
 AP_Mission *GCS_MAVLINK_Rover::get_mission()
 {
     return &rover.mission;
diff --git a/APMrover2/GCS_Mavlink.h b/APMrover2/GCS_Mavlink.h
index 541e9fcf45..0d01bde94f 100644
--- a/APMrover2/GCS_Mavlink.h
+++ b/APMrover2/GCS_Mavlink.h
@@ -18,6 +18,7 @@ protected:
 
     AP_Mission *get_mission() override;
     AP_Rally *get_rally() const override { return nullptr; };
+    AP_ServoRelayEvents *get_servorelayevents() const override;
 
     uint8_t sysid_my_gcs() const override;