diff --git a/libraries/AP_Gripper/AP_Gripper.cpp b/libraries/AP_Gripper/AP_Gripper.cpp
index 0cabe2c3f6..1fbd9e197a 100644
--- a/libraries/AP_Gripper/AP_Gripper.cpp
+++ b/libraries/AP_Gripper/AP_Gripper.cpp
@@ -168,9 +168,9 @@ PASS_TO_BACKEND(grabbed)
 
 namespace AP {
 
-AP_Gripper *gripper()
+AP_Gripper &gripper()
 {
-    return AP_Gripper::get_singleton();
+    return *AP_Gripper::get_singleton();
 }
 
 };
diff --git a/libraries/AP_Gripper/AP_Gripper.h b/libraries/AP_Gripper/AP_Gripper.h
index 3d412a191a..f024b7c0be 100644
--- a/libraries/AP_Gripper/AP_Gripper.h
+++ b/libraries/AP_Gripper/AP_Gripper.h
@@ -88,7 +88,7 @@ private:
 };
 
 namespace AP {
-    AP_Gripper *gripper();
+    AP_Gripper &gripper();
 };
 
 #endif  // AP_GRIPPER_ENABLED