diff --git a/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp b/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
index 2c71ba0158..b3dae75667 100644
--- a/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
+++ b/libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
@@ -195,7 +195,7 @@ AP_AdvancedFailsafe::check(uint32_t last_valid_rc_ms)
         const AC_Fence *ap_fence = AP::fence();
         if ((ap_fence != nullptr && ap_fence->get_breaches() != 0) || check_altlimit()) {
             if (!_terminate) {
-                gcs().send_text(MAV_SEVERITY_CRITICAL, "Terminating due to fence breach");
+                GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Terminating due to fence breach");
                 _terminate.set_and_notify(1);
             }
         }
@@ -213,7 +213,7 @@ AP_AdvancedFailsafe::check(uint32_t last_valid_rc_ms)
         (mode == AFS_MANUAL || mode == AFS_STABILIZED || !_rc_term_manual_only) &&
         _rc_fail_time_seconds > 0 &&
             (AP_HAL::millis() - last_valid_rc_ms) > (_rc_fail_time_seconds * 1000.0f)) {
-        gcs().send_text(MAV_SEVERITY_CRITICAL, "Terminating due to RC failure");
+        GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Terminating due to RC failure");
         _terminate.set_and_notify(1);
     }
     
@@ -241,7 +241,7 @@ AP_AdvancedFailsafe::check(uint32_t last_valid_rc_ms)
         // we startup in preflight mode. This mode ends when
         // we first enter auto.
         if (mode == AFS_AUTO) {
-            gcs().send_text(MAV_SEVERITY_DEBUG, "AFS State: AFS_AUTO");
+            GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "AFS State: AFS_AUTO");
             _state = STATE_AUTO;
         }
         break;
@@ -249,7 +249,7 @@ AP_AdvancedFailsafe::check(uint32_t last_valid_rc_ms)
     case STATE_AUTO:
         // this is the normal mode. 
         if (!gcs_link_ok) {
-            gcs().send_text(MAV_SEVERITY_DEBUG, "AFS State: DATA_LINK_LOSS");
+            GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "AFS State: DATA_LINK_LOSS");
             _state = STATE_DATA_LINK_LOSS;
             if (_wp_comms_hold) {
                 _saved_wp = mission.get_current_nav_cmd().index;
@@ -266,7 +266,7 @@ AP_AdvancedFailsafe::check(uint32_t last_valid_rc_ms)
             break;
         }
         if (!gps_lock_ok) {
-            gcs().send_text(MAV_SEVERITY_DEBUG, "AFS State: GPS_LOSS");
+            GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "AFS State: GPS_LOSS");
             _state = STATE_GPS_LOSS;
             if (_wp_gps_loss) {
                 _saved_wp = mission.get_current_nav_cmd().index;
@@ -287,13 +287,13 @@ AP_AdvancedFailsafe::check(uint32_t last_valid_rc_ms)
             // leads to termination if AFS_DUAL_LOSS is 1
             if(_enable_dual_loss) {
                 if (!_terminate) {
-                    gcs().send_text(MAV_SEVERITY_CRITICAL, "Terminating due to dual loss");
+                    GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Terminating due to dual loss");
                     _terminate.set_and_notify(1);
                 }
             }
         } else if (gcs_link_ok) {
             _state = STATE_AUTO;
-            gcs().send_text(MAV_SEVERITY_DEBUG, "AFS State: AFS_AUTO, GCS now OK");
+            GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "AFS State: AFS_AUTO, GCS now OK");
 
             if (option_is_set(Option::CONTINUE_AFTER_RECOVERED)) {
                 break;
@@ -314,11 +314,11 @@ AP_AdvancedFailsafe::check(uint32_t last_valid_rc_ms)
             // losing GCS link when GPS lock lost
             // leads to termination if AFS_DUAL_LOSS is 1
             if (!_terminate && _enable_dual_loss) {
-                gcs().send_text(MAV_SEVERITY_CRITICAL, "Terminating due to dual loss");
+                GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Terminating due to dual loss");
                 _terminate.set_and_notify(1);
             }
         } else if (gps_lock_ok) {
-            gcs().send_text(MAV_SEVERITY_DEBUG, "AFS State: AFS_AUTO, GPS now OK");
+            GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "AFS State: AFS_AUTO, GPS now OK");
             _state = STATE_AUTO;
             // we only return to the mission if we have not exceeded AFS_MAX_GPS_LOSS
             if (_saved_wp != 0 &&
@@ -428,7 +428,7 @@ bool AP_AdvancedFailsafe::should_crash_vehicle(void)
 // returns true if AFS is in the desired termination state
 bool AP_AdvancedFailsafe::gcs_terminate(bool should_terminate, const char *reason) {
     if (!_enable) {
-        gcs().send_text(MAV_SEVERITY_INFO, "AFS not enabled, can't terminate the vehicle");
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "AFS not enabled, can't terminate the vehicle");
         return false;
     }
 
@@ -439,13 +439,13 @@ bool AP_AdvancedFailsafe::gcs_terminate(bool should_terminate, const char *reaso
 
     if(should_terminate == is_terminating) {
         if (is_terminating) {
-            gcs().send_text(MAV_SEVERITY_INFO, "Terminating due to %s", reason);
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Terminating due to %s", reason);
         } else {
-            gcs().send_text(MAV_SEVERITY_INFO, "Aborting termination due to %s", reason);
+            GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Aborting termination due to %s", reason);
         }
         return true;
     } else if (should_terminate && _terminate_action != TERMINATE_ACTION_TERMINATE) {
-        gcs().send_text(MAV_SEVERITY_INFO, "Unable to terminate, termination is not configured");
+        GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Unable to terminate, termination is not configured");
     }
     return false;
 }
@@ -482,7 +482,7 @@ void AP_AdvancedFailsafe::max_range_update(void)
     if (distance_km > _max_range_km) {
         uint32_t now = AP_HAL::millis();
         if (now - _term_range_notice_ms > 5000) {
-            gcs().send_text(MAV_SEVERITY_CRITICAL, "Terminating due to range %.1fkm", distance_km);
+            GCS_SEND_TEXT(MAV_SEVERITY_CRITICAL, "Terminating due to range %.1fkm", distance_km);
             _term_range_notice_ms = now;
         }
         _terminate.set_and_notify(1);