diff --git a/libraries/AP_Mount/AP_Mount.cpp b/libraries/AP_Mount/AP_Mount.cpp
index e67b73cb35..b7e0f103e8 100644
--- a/libraries/AP_Mount/AP_Mount.cpp
+++ b/libraries/AP_Mount/AP_Mount.cpp
@@ -598,28 +598,28 @@ MAV_RESULT AP_Mount::handle_command_long(const mavlink_command_long_t &packet)
 }
 
 /// Change the configuration of the mount
-void AP_Mount::handle_mount_configure(const mavlink_message_t *msg)
+void AP_Mount::handle_mount_configure(const mavlink_message_t &msg)
 {
     if (_primary >= AP_MOUNT_MAX_INSTANCES || _backends[_primary] == nullptr) {
         return;
     }
 
     mavlink_mount_configure_t packet;
-    mavlink_msg_mount_configure_decode(msg, &packet);
+    mavlink_msg_mount_configure_decode(&msg, &packet);
 
     // send message to backend
     _backends[_primary]->handle_mount_configure(packet);
 }
 
 /// Control the mount (depends on the previously set mount configuration)
-void AP_Mount::handle_mount_control(const mavlink_message_t *msg)
+void AP_Mount::handle_mount_control(const mavlink_message_t &msg)
 {
     if (_primary >= AP_MOUNT_MAX_INSTANCES || _backends[_primary] == nullptr) {
         return;
     }
 
     mavlink_mount_control_t packet;
-    mavlink_msg_mount_control_decode(msg, &packet);
+    mavlink_msg_mount_control_decode(&msg, &packet);
 
     // send message to backend
     _backends[_primary]->handle_mount_control(packet);
@@ -646,7 +646,7 @@ void AP_Mount::set_roi_target(uint8_t instance, const struct Location &target_lo
 }
 
 // pass a GIMBAL_REPORT message to the backend
-void AP_Mount::handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t *msg)
+void AP_Mount::handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t &msg)
 {
     for (uint8_t instance=0; instance<AP_MOUNT_MAX_INSTANCES; instance++) {
         if (_backends[instance] != nullptr) {
@@ -655,9 +655,9 @@ void AP_Mount::handle_gimbal_report(mavlink_channel_t chan, const mavlink_messag
     }
 }
 
-void AP_Mount::handle_message(mavlink_channel_t chan, const mavlink_message_t *msg)
+void AP_Mount::handle_message(mavlink_channel_t chan, const mavlink_message_t &msg)
 {
-    switch (msg->msgid) {
+    switch (msg.msgid) {
     case MAVLINK_MSG_ID_GIMBAL_REPORT:
         handle_gimbal_report(chan, msg);
         break;
@@ -676,7 +676,7 @@ void AP_Mount::handle_message(mavlink_channel_t chan, const mavlink_message_t *m
 }
 
 // handle PARAM_VALUE
-void AP_Mount::handle_param_value(const mavlink_message_t *msg)
+void AP_Mount::handle_param_value(const mavlink_message_t &msg)
 {
     for (uint8_t instance=0; instance<AP_MOUNT_MAX_INSTANCES; instance++) {
         if (_backends[instance] != nullptr) {
diff --git a/libraries/AP_Mount/AP_Mount.h b/libraries/AP_Mount/AP_Mount.h
index a22c57ec1c..e5b616eb1d 100644
--- a/libraries/AP_Mount/AP_Mount.h
+++ b/libraries/AP_Mount/AP_Mount.h
@@ -114,8 +114,8 @@ public:
 
     // mavlink message handling:
     MAV_RESULT handle_command_long(const mavlink_command_long_t &packet);
-    void handle_param_value(const mavlink_message_t *msg);
-    void handle_message(mavlink_channel_t chan, const mavlink_message_t *msg);
+    void handle_param_value(const mavlink_message_t &msg);
+    void handle_message(mavlink_channel_t chan, const mavlink_message_t &msg);
 
     // send a GIMBAL_REPORT message to GCS
     void send_gimbal_report(mavlink_channel_t chan);
@@ -175,9 +175,9 @@ protected:
 
 private:
 
-    void handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t *msg);
-    void handle_mount_configure(const mavlink_message_t *msg);
-    void handle_mount_control(const mavlink_message_t *msg);
+    void handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t &msg);
+    void handle_mount_configure(const mavlink_message_t &msg);
+    void handle_mount_control(const mavlink_message_t &msg);
 
     MAV_RESULT handle_command_do_mount_configure(const mavlink_command_long_t &packet);
     MAV_RESULT handle_command_do_mount_control(const mavlink_command_long_t &packet);
diff --git a/libraries/AP_Mount/AP_Mount_Backend.h b/libraries/AP_Mount/AP_Mount_Backend.h
index 7e41e8b3eb..1414653491 100644
--- a/libraries/AP_Mount/AP_Mount_Backend.h
+++ b/libraries/AP_Mount/AP_Mount_Backend.h
@@ -70,10 +70,10 @@ public:
     virtual void send_mount_status(mavlink_channel_t chan) = 0;
 
     // handle a GIMBAL_REPORT message
-    virtual void handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t *msg) {}
+    virtual void handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t &msg) {}
 
     // handle a PARAM_VALUE message
-    virtual void handle_param_value(const mavlink_message_t *msg) {}
+    virtual void handle_param_value(const mavlink_message_t &msg) {}
 
     // send a GIMBAL_REPORT message to the GCS
     virtual void send_gimbal_report(const mavlink_channel_t chan) {}
diff --git a/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp b/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
index 581c72b036..ae1ee0bf64 100644
--- a/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
+++ b/libraries/AP_Mount/AP_Mount_SoloGimbal.cpp
@@ -114,7 +114,7 @@ void AP_Mount_SoloGimbal::send_mount_status(mavlink_channel_t chan)
 /*
   handle a GIMBAL_REPORT message
  */
-void AP_Mount_SoloGimbal::handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t *msg)
+void AP_Mount_SoloGimbal::handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t &msg)
 {
     _gimbal.update_target(_angle_ef_target_rad);
     _gimbal.receive_feedback(chan,msg);
@@ -134,7 +134,7 @@ void AP_Mount_SoloGimbal::handle_gimbal_report(mavlink_channel_t chan, const mav
     }
 }
 
-void AP_Mount_SoloGimbal::handle_param_value(const mavlink_message_t *msg)
+void AP_Mount_SoloGimbal::handle_param_value(const mavlink_message_t &msg)
 {
     _gimbal.handle_param_value(msg);
 }
@@ -142,7 +142,7 @@ void AP_Mount_SoloGimbal::handle_param_value(const mavlink_message_t *msg)
 /*
   handle a GIMBAL_REPORT message
  */
-void AP_Mount_SoloGimbal::handle_gimbal_torque_report(mavlink_channel_t chan, const mavlink_message_t *msg)
+void AP_Mount_SoloGimbal::handle_gimbal_torque_report(mavlink_channel_t chan, const mavlink_message_t &msg)
 {
     _gimbal.disable_torque_report();
 }
diff --git a/libraries/AP_Mount/AP_Mount_SoloGimbal.h b/libraries/AP_Mount/AP_Mount_SoloGimbal.h
index 5e8c5e2ea6..47c91f5ba3 100644
--- a/libraries/AP_Mount/AP_Mount_SoloGimbal.h
+++ b/libraries/AP_Mount/AP_Mount_SoloGimbal.h
@@ -39,9 +39,9 @@ public:
     void send_mount_status(mavlink_channel_t chan) override;
 
     // handle a GIMBAL_REPORT message
-    void handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t *msg) override;
-    void handle_gimbal_torque_report(mavlink_channel_t chan, const mavlink_message_t *msg);
-    void handle_param_value(const mavlink_message_t *msg) override;
+    void handle_gimbal_report(mavlink_channel_t chan, const mavlink_message_t &msg) override;
+    void handle_gimbal_torque_report(mavlink_channel_t chan, const mavlink_message_t &msg);
+    void handle_param_value(const mavlink_message_t &msg) override;
 
     // send a GIMBAL_REPORT message to the GCS
     void send_gimbal_report(mavlink_channel_t chan) override;
diff --git a/libraries/AP_Mount/SoloGimbal.cpp b/libraries/AP_Mount/SoloGimbal.cpp
index f869888312..69f54997ca 100644
--- a/libraries/AP_Mount/SoloGimbal.cpp
+++ b/libraries/AP_Mount/SoloGimbal.cpp
@@ -41,10 +41,10 @@ gimbal_mode_t SoloGimbal::get_mode()
     }
 }
 
-void SoloGimbal::receive_feedback(mavlink_channel_t chan, const mavlink_message_t *msg)
+void SoloGimbal::receive_feedback(mavlink_channel_t chan, const mavlink_message_t &msg)
 {
     mavlink_gimbal_report_t report_msg;
-    mavlink_msg_gimbal_report_decode(msg, &report_msg);
+    mavlink_msg_gimbal_report_decode(&msg, &report_msg);
     uint32_t tnow_ms = AP_HAL::millis();
     _last_report_msg_ms = tnow_ms;
 
diff --git a/libraries/AP_Mount/SoloGimbal.h b/libraries/AP_Mount/SoloGimbal.h
index 56b091ce82..e25567ea88 100644
--- a/libraries/AP_Mount/SoloGimbal.h
+++ b/libraries/AP_Mount/SoloGimbal.h
@@ -56,7 +56,7 @@ public:
     }
 
     void    update_target(const Vector3f &newTarget);
-    void    receive_feedback(mavlink_channel_t chan, const mavlink_message_t *msg);
+    void    receive_feedback(mavlink_channel_t chan, const mavlink_message_t &msg);
 
     void update_fast();
 
@@ -72,7 +72,7 @@ public:
     void disable_torque_report() { _gimbalParams.set_param(GMB_PARAM_GMB_SND_TORQUE, 0); }
     void fetch_params() { _gimbalParams.fetch_params(); }
 
-    void handle_param_value(const mavlink_message_t *msg) {
+    void handle_param_value(const mavlink_message_t &msg) {
         _gimbalParams.handle_param_value(msg);
     }
 
diff --git a/libraries/AP_Mount/SoloGimbal_Parameters.cpp b/libraries/AP_Mount/SoloGimbal_Parameters.cpp
index b04adbb28a..202058c15e 100644
--- a/libraries/AP_Mount/SoloGimbal_Parameters.cpp
+++ b/libraries/AP_Mount/SoloGimbal_Parameters.cpp
@@ -181,10 +181,10 @@ void SoloGimbal_Parameters::update()
     }
 }
 
-void SoloGimbal_Parameters::handle_param_value(const mavlink_message_t *msg)
+void SoloGimbal_Parameters::handle_param_value(const mavlink_message_t &msg)
 {
     mavlink_param_value_t packet;
-    mavlink_msg_param_value_decode(msg, &packet);
+    mavlink_msg_param_value_decode(&msg, &packet);
 
     AP_Logger *logger = AP_Logger::get_singleton();
     if (logger != nullptr) {
diff --git a/libraries/AP_Mount/SoloGimbal_Parameters.h b/libraries/AP_Mount/SoloGimbal_Parameters.h
index bead73a829..0188c6ba65 100644
--- a/libraries/AP_Mount/SoloGimbal_Parameters.h
+++ b/libraries/AP_Mount/SoloGimbal_Parameters.h
@@ -53,7 +53,7 @@ public:
     void set_param(gmb_param_t param, float value);
 
     void update();
-    void handle_param_value(const mavlink_message_t *msg);
+    void handle_param_value(const mavlink_message_t &msg);
 
     Vector3f get_accel_bias();
     Vector3f get_accel_gain();