diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index f7a7a2f1e0..41944d77ec 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -2134,14 +2134,6 @@ void Plane::mavlink_delay_cb()
     in_mavlink_delay = false;
 }
 
-/*
- *  send a mission item reached message and load the index before the send attempt in case it may get delayed
- */
-void Plane::gcs_send_mission_item_reached_message(uint16_t mission_index)
-{
-    gcs().send_mission_item_reached_message(mission_index);
-}
-
 /*
  *  send data streams in the given rate range on both links
  */
diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h
index 8ff64ca1f8..65cae85776 100644
--- a/ArduPlane/Plane.h
+++ b/ArduPlane/Plane.h
@@ -822,7 +822,6 @@ private:
     void send_aoa_ssa(mavlink_channel_t chan);
 
     bool telemetry_delayed(mavlink_channel_t chan);
-    void gcs_send_mission_item_reached_message(uint16_t mission_index);
     void gcs_data_stream_send(void);
     void gcs_update(void);
     void gcs_send_airspeed_calibration(const Vector3f &vg);
diff --git a/ArduPlane/commands_logic.cpp b/ArduPlane/commands_logic.cpp
index 3b0be36ab0..999ece81d0 100644
--- a/ArduPlane/commands_logic.cpp
+++ b/ArduPlane/commands_logic.cpp
@@ -1004,7 +1004,7 @@ bool Plane::verify_command_callback(const AP_Mission::Mission_Command& cmd)
 
         // send message to GCS
         if (cmd_complete) {
-            gcs_send_mission_item_reached_message(cmd.index);
+            gcs().send_mission_item_reached_message(cmd.index);
         }
 
         return cmd_complete;
diff --git a/ArduPlane/navigation.cpp b/ArduPlane/navigation.cpp
index cffad479b1..df0430dcb5 100644
--- a/ArduPlane/navigation.cpp
+++ b/ArduPlane/navigation.cpp
@@ -197,7 +197,7 @@ void Plane::update_loiter(uint16_t radius)
             loiter.start_time_ms = millis();
             if (control_mode == GUIDED || control_mode == AVOID_ADSB) {
                 // starting a loiter in GUIDED means we just reached the target point
-                gcs_send_mission_item_reached_message(0);
+                gcs().send_mission_item_reached_message(0);
             }
             if (quadplane.guided_mode_enabled()) {
                 quadplane.guided_start();