diff --git a/APMrover2/APMrover2.cpp b/APMrover2/APMrover2.cpp
index d990ed58e6..3bcaefc6d4 100644
--- a/APMrover2/APMrover2.cpp
+++ b/APMrover2/APMrover2.cpp
@@ -439,7 +439,7 @@ void Rover::update_current_mode(void)
             if (rtl_complete || verify_RTL()) {
                 // we have reached destination so stop where we are
                 if (fabsf(g2.motors.get_throttle()) > g.throttle_min.get()) {
-                    gcs_send_mission_item_reached_message(0);
+                    gcs().send_mission_item_reached_message(0);
                 }
                 g2.motors.set_throttle(g.throttle_min.get());
                 g2.motors.set_steering(0.0f);
diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index b02d0be3c2..d67a5e88b5 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -1592,14 +1592,6 @@ void Rover::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 Rover::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/APMrover2/Rover.h b/APMrover2/Rover.h
index 69ba475c09..e96cf9582a 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -451,7 +451,6 @@ private:
     void send_rangefinder(mavlink_channel_t chan);
     void send_current_waypoint(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_retry_deferred(void);
diff --git a/APMrover2/commands_logic.cpp b/APMrover2/commands_logic.cpp
index ed638516f9..7f47ffea8d 100644
--- a/APMrover2/commands_logic.cpp
+++ b/APMrover2/commands_logic.cpp
@@ -145,7 +145,7 @@ bool Rover::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;