diff --git a/ArduCopter/GCS.h b/ArduCopter/GCS.h
index 7047beaf09..6a1fc4182c 100644
--- a/ArduCopter/GCS.h
+++ b/ArduCopter/GCS.h
@@ -43,6 +43,7 @@ public:
 	void		init(FastSerial *port) {
         _port = port;
         initialised = true;
+        last_gps_satellites = 255;
     }
 
 	/// Update GCS state.
@@ -89,6 +90,9 @@ public:
     // set to true if this GCS link is active
     bool initialised;
 
+    // used to prevent wasting bandwidth with GPS_STATUS messages
+    uint8_t last_gps_satellites;
+
 protected:
 	/// The stream we are communicating over
 	FastSerial			*_port;
diff --git a/ArduCopter/GCS_Mavlink.pde b/ArduCopter/GCS_Mavlink.pde
index 8cb0957367..bdd0f217cd 100644
--- a/ArduCopter/GCS_Mavlink.pde
+++ b/ArduCopter/GCS_Mavlink.pde
@@ -697,11 +697,18 @@ GCS_MAVLINK::data_stream_send(uint16_t freqMin, uint16_t freqMax)
 		if (freqLoopMatch(streamRateExtendedStatus, freqMin, freqMax)) {
 			send_message(MSG_EXTENDED_STATUS1);
 			send_message(MSG_EXTENDED_STATUS2);
-			send_message(MSG_GPS_STATUS);
 			send_message(MSG_CURRENT_WAYPOINT);
 			send_message(MSG_GPS_RAW);			// TODO - remove this message after location message is working
 			send_message(MSG_NAV_CONTROLLER_OUTPUT);
-			//Serial.printf("mav2 %d\n", (int)streamRateExtendedStatus.get());
+
+            if (last_gps_satellites != g_gps->num_sats) {
+                // this message is mostly a huge waste of bandwidth,
+                // except it is the only message that gives the number
+                // of visible satellites. So only send it when that
+                // changes.
+                send_message(MSG_GPS_STATUS);
+                last_gps_satellites = g_gps->num_sats;
+            }
 		}
 
 		if (freqLoopMatch(streamRatePosition, freqMin, freqMax)) {
diff --git a/ArduPlane/GCS.h b/ArduPlane/GCS.h
index 7047beaf09..6a1fc4182c 100644
--- a/ArduPlane/GCS.h
+++ b/ArduPlane/GCS.h
@@ -43,6 +43,7 @@ public:
 	void		init(FastSerial *port) {
         _port = port;
         initialised = true;
+        last_gps_satellites = 255;
     }
 
 	/// Update GCS state.
@@ -89,6 +90,9 @@ public:
     // set to true if this GCS link is active
     bool initialised;
 
+    // used to prevent wasting bandwidth with GPS_STATUS messages
+    uint8_t last_gps_satellites;
+
 protected:
 	/// The stream we are communicating over
 	FastSerial			*_port;
diff --git a/ArduPlane/GCS_Mavlink.pde b/ArduPlane/GCS_Mavlink.pde
index 2cede18da0..3d7e2d35b3 100644
--- a/ArduPlane/GCS_Mavlink.pde
+++ b/ArduPlane/GCS_Mavlink.pde
@@ -900,11 +900,19 @@ GCS_MAVLINK::data_stream_send(uint16_t freqMin, uint16_t freqMax)
 		if (freqLoopMatch(streamRateExtendedStatus, freqMin, freqMax)) {
 			send_message(MSG_EXTENDED_STATUS1);
 			send_message(MSG_EXTENDED_STATUS2);
-			send_message(MSG_GPS_STATUS);
 			send_message(MSG_CURRENT_WAYPOINT);
 			send_message(MSG_GPS_RAW);            // TODO - remove this message after location message is working
 			send_message(MSG_NAV_CONTROLLER_OUTPUT);
 			send_message(MSG_FENCE_STATUS);
+
+            if (last_gps_satellites != g_gps->num_sats) {
+                // this message is mostly a huge waste of bandwidth,
+                // except it is the only message that gives the number
+                // of visible satellites. So only send it when that
+                // changes.
+                send_message(MSG_GPS_STATUS);
+                last_gps_satellites = g_gps->num_sats;
+            }
 		}
 
 		if (freqLoopMatch(streamRatePosition, freqMin, freqMax)) {