diff --git a/AntennaTracker/GCS_Mavlink.cpp b/AntennaTracker/GCS_Mavlink.cpp
index 3b6b2f9473..2243ce5795 100644
--- a/AntennaTracker/GCS_Mavlink.cpp
+++ b/AntennaTracker/GCS_Mavlink.cpp
@@ -417,6 +417,19 @@ MAV_RESULT GCS_MAVLINK_Tracker::_handle_command_preflight_calibration_baro()
     return ret;
 }
 
+MAV_RESULT GCS_MAVLINK_Tracker::handle_command_component_arm_disarm(const mavlink_command_long_t &packet)
+{
+    if (is_equal(packet.param1,1.0f)) {
+        tracker.arm_servos();
+        return MAV_RESULT_ACCEPTED;
+    }
+    if (is_zero(packet.param1))  {
+        tracker.disarm_servos();
+        return MAV_RESULT_ACCEPTED;
+    }
+    return MAV_RESULT_UNSUPPORTED;
+}
+
 MAV_RESULT GCS_MAVLINK_Tracker::handle_command_long_packet(const mavlink_command_long_t &packet)
 {
     // do command
@@ -424,17 +437,6 @@ MAV_RESULT GCS_MAVLINK_Tracker::handle_command_long_packet(const mavlink_command
 
     switch(packet.command) {
 
-    case MAV_CMD_COMPONENT_ARM_DISARM:
-        if (is_equal(packet.param1,1.0f)) {
-            tracker.arm_servos();
-            return MAV_RESULT_ACCEPTED;
-        }
-        if (is_zero(packet.param1))  {
-            tracker.disarm_servos();
-            return MAV_RESULT_ACCEPTED;
-        }
-        return MAV_RESULT_UNSUPPORTED;
-
     case MAV_CMD_DO_SET_SERVO:
         // ensure we are in servo test mode
         tracker.set_mode(tracker.mode_servotest, ModeReason::SERVOTEST);
diff --git a/AntennaTracker/GCS_Mavlink.h b/AntennaTracker/GCS_Mavlink.h
index 98578eeb80..6840065ccd 100644
--- a/AntennaTracker/GCS_Mavlink.h
+++ b/AntennaTracker/GCS_Mavlink.h
@@ -18,6 +18,7 @@ protected:
 
     uint8_t sysid_my_gcs() const override;
 
+    MAV_RESULT handle_command_component_arm_disarm(const mavlink_command_long_t &packet) override;
     MAV_RESULT _handle_command_preflight_calibration_baro() override;
     MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet) override;
 
diff --git a/AntennaTracker/Tracker.h b/AntennaTracker/Tracker.h
index 2dbf8f3a97..11dcce6ab4 100644
--- a/AntennaTracker/Tracker.h
+++ b/AntennaTracker/Tracker.h
@@ -75,6 +75,9 @@ public:
 
     Tracker(void);
 
+    void arm_servos();
+    void disarm_servos();
+
 private:
     Parameters g;
 
@@ -211,8 +214,6 @@ private:
     bool get_home_eeprom(struct Location &loc);
     bool set_home_eeprom(const Location &temp) WARN_IF_UNUSED;
     bool set_home(const Location &temp) WARN_IF_UNUSED;
-    void arm_servos();
-    void disarm_servos();
     void prepare_servos();
     void set_mode(Mode &newmode, ModeReason reason);
     bool set_mode(uint8_t new_mode, ModeReason reason) override;