diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
index 1ffb5f0419..a50c38f02b 100644
--- a/ArduSub/GCS_Mavlink.cpp
+++ b/ArduSub/GCS_Mavlink.cpp
@@ -1269,30 +1269,6 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
             }
             break;
 
-        case MAV_CMD_DO_SET_SERVO:
-            if (sub.ServoRelayEvents.do_set_servo(packet.param1, packet.param2)) {
-                result = MAV_RESULT_ACCEPTED;
-            }
-            break;
-
-        case MAV_CMD_DO_REPEAT_SERVO:
-            if (sub.ServoRelayEvents.do_repeat_servo(packet.param1, packet.param2, packet.param3, packet.param4*1000)) {
-                result = MAV_RESULT_ACCEPTED;
-            }
-            break;
-
-        case MAV_CMD_DO_SET_RELAY:
-            if (sub.ServoRelayEvents.do_set_relay(packet.param1, packet.param2)) {
-                result = MAV_RESULT_ACCEPTED;
-            }
-            break;
-
-        case MAV_CMD_DO_REPEAT_RELAY:
-            if (sub.ServoRelayEvents.do_repeat_relay(packet.param1, packet.param2, packet.param3*1000)) {
-                result = MAV_RESULT_ACCEPTED;
-            }
-            break;
-
         case MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN:
             if (is_equal(packet.param1,1.0f) || is_equal(packet.param1,3.0f)) {
                 // Send an invalid signal to the motors to prevent spinning due to neutral (1500) pwm pulse being cut short
@@ -1753,6 +1729,11 @@ AP_Mission *GCS_MAVLINK_Sub::get_mission()
     return &sub.mission;
 }
 
+AP_ServoRelayEvents *GCS_MAVLINK_Sub::get_servorelayevents() const
+{
+    return &sub.ServoRelayEvents;
+}
+
 AP_Rally *GCS_MAVLINK_Sub::get_rally() const
 {
 #if AC_RALLY == ENABLED
diff --git a/ArduSub/GCS_Mavlink.h b/ArduSub/GCS_Mavlink.h
index 845021c4fa..05f8bb696b 100644
--- a/ArduSub/GCS_Mavlink.h
+++ b/ArduSub/GCS_Mavlink.h
@@ -16,6 +16,7 @@ protected:
 
     AP_Mission *get_mission() override;
     AP_Rally *get_rally() const override;
+    AP_ServoRelayEvents *get_servorelayevents() const override;
 
     uint8_t sysid_my_gcs() const override;