diff --git a/AntennaTracker/GCS_Mavlink.pde b/AntennaTracker/GCS_Mavlink.pde
index 5c0c88d9d5..57561265a0 100644
--- a/AntennaTracker/GCS_Mavlink.pde
+++ b/AntennaTracker/GCS_Mavlink.pde
@@ -437,69 +437,41 @@ GCS_MAVLINK::data_stream_send(void)
     }
 }
 
+/*
+  We eavesdrop on MAVLINK_MSG_ID_GLOBAL_POSITION_INT and
+  MAVLINK_MSG_ID_SCALED_PRESSUREs
+*/
+void mavlink_snoop(const mavlink_message_t* msg)
+{
+    switch (msg->msgid) {
+    case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
+    {
+        // decode
+        mavlink_global_position_int_t packet;
+        mavlink_msg_global_position_int_decode(msg, &packet);
+        tracking_update_position(packet);
+        break;
+    }
+    
+    case MAVLINK_MSG_ID_SCALED_PRESSURE:
+    {
+        // decode
+        mavlink_scaled_pressure_t packet;
+        mavlink_msg_scaled_pressure_decode(msg, &packet);
+        tracking_update_pressure(packet);
+        break;
+    }
+    }
+}
+
 void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 {
-    // in proxy mode all messages from the vehicle are proxied to GCS
-    if (g.proxy_mode == true && chan == proxy_vehicle.chan) {
-
-        // We also eavesdrop on MAVLINK_MSG_ID_GLOBAL_POSITION_INT and MAVLINK_MSG_ID_SCALED_PRESSUREs
-        switch (msg->msgid) {
-            case MAVLINK_MSG_ID_GLOBAL_POSITION_INT:
-            {
-                // decode
-                mavlink_global_position_int_t packet;
-                mavlink_msg_global_position_int_decode(msg, &packet);
-                tracking_update_position(packet);
-                break;
-            }
-
-            case MAVLINK_MSG_ID_SCALED_PRESSURE:
-            {
-                // decode
-                mavlink_scaled_pressure_t packet;
-                mavlink_msg_scaled_pressure_decode(msg, &packet);
-                tracking_update_pressure(packet);
-                break;
-            }
-        }
-
-        // Proxy to all the GCS stations
-        for (uint8_t i=0; i<num_gcs; i++) {
-            if (gcs[i].initialised) {
-                mavlink_channel_t out_chan = (mavlink_channel_t)i;
-                // only forward if it would fit in the transmit buffer
-                if (comm_get_txspace(out_chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) {
-                    _mavlink_resend_uart(out_chan, msg);
-                }
-            }
-        }
-
-        // no further processing of this messages
-        return;
-    }
-
-
     switch (msg->msgid) {
 
     // If we are currently operating as a proxy for a remote, 
     // alas we have to look inside each packet to see if its for us or for the remote
     case MAVLINK_MSG_ID_REQUEST_DATA_STREAM:
     {
-        if (g.proxy_mode == true && proxy_vehicle.initialised)
-        {
-            // See if its for the remote
-            mavlink_request_data_stream_t packet;
-            mavlink_msg_request_data_stream_decode(msg, &packet);
-            
-            if (mavlink_check_target(packet.target_system, packet.target_component))
-            {
-                // Not for us, must be for the remote
-                if (comm_get_txspace(proxy_vehicle.chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) 
-                    _mavlink_resend_uart(proxy_vehicle.chan, msg);
-                break;
-            }
-            // Else its for us, the tracker
-        }
         handle_request_data_stream(msg, true);
         break;
     }
@@ -507,92 +479,30 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
 
     case MAVLINK_MSG_ID_PARAM_REQUEST_LIST:
     {
-        if (g.proxy_mode == true && proxy_vehicle.initialised)
-        {
-            // See if its for the remote
-            mavlink_param_request_list_t packet;
-            mavlink_msg_param_request_list_decode(msg, &packet);
-            
-            if (mavlink_check_target(packet.target_system, packet.target_component))
-            {
-                // Not for us, must be for the remote
-                if (comm_get_txspace(proxy_vehicle.chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) 
-                    _mavlink_resend_uart(proxy_vehicle.chan, msg);
-                break;
-            }
-            // Else its for us, the tracker
-        }
         handle_param_request_list(msg);
         break;
     }
 
     case MAVLINK_MSG_ID_PARAM_REQUEST_READ:
     {
-        if (g.proxy_mode == true && proxy_vehicle.initialised)
-        {
-            // See if its for the remote
-            mavlink_param_request_read_t packet;
-            mavlink_msg_param_request_read_decode(msg, &packet);
-            
-            if (mavlink_check_target(packet.target_system, packet.target_component))
-            {
-                // Not for us, must be for the remote
-                if (comm_get_txspace(proxy_vehicle.chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) 
-                    _mavlink_resend_uart(proxy_vehicle.chan, msg);
-                break;
-            }
-            // Else its for us, the tracker
-        }
         handle_param_request_read(msg);
         break;
     }
 
     case MAVLINK_MSG_ID_PARAM_SET:
     {
-        if (g.proxy_mode == true && proxy_vehicle.initialised)
-        {
-            // See if its for the remote
-            mavlink_param_set_t packet;
-            mavlink_msg_param_set_decode(msg, &packet);
-            
-            if (mavlink_check_target(packet.target_system, packet.target_component))
-            {
-                // Not for us, must be for the remote
-                if (comm_get_txspace(proxy_vehicle.chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) 
-                    _mavlink_resend_uart(proxy_vehicle.chan, msg);
-                break;
-            }
-            // Else its for us, the tracker
-        }
         handle_param_set(msg, NULL);
         break;
     }
 
     case MAVLINK_MSG_ID_HEARTBEAT:
-    {
-        // Heartbeats are always proxied to the remote and also handled locally
-        if (g.proxy_mode == true && proxy_vehicle.initialised)
-        {
-            if (comm_get_txspace(proxy_vehicle.chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) 
-                _mavlink_resend_uart(proxy_vehicle.chan, msg);
-        }
-        if (msg->sysid != g.sysid_my_gcs) break;
         break;
-    }
 
     case MAVLINK_MSG_ID_COMMAND_LONG:
     {
         // decode
         mavlink_command_long_t packet;
         mavlink_msg_command_long_decode(msg, &packet);
-        if (mavlink_check_target(packet.target_system, packet.target_component)) {
-            // Its for the remote, proxy it
-            if (g.proxy_mode == true && proxy_vehicle.initialised) {
-                if (comm_get_txspace(proxy_vehicle.chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) 
-                    _mavlink_resend_uart(proxy_vehicle.chan, msg);
-            }
-            break;
-        }
         
         uint8_t result = MAV_RESULT_UNSUPPORTED;
         
@@ -696,14 +606,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         // decode
         mavlink_mission_write_partial_list_t packet;
         mavlink_msg_mission_write_partial_list_decode(msg, &packet);
-        if (mavlink_check_target(packet.target_system,packet.target_component)) {
-            if (g.proxy_mode == true && proxy_vehicle.initialised) {
-                // Its for the remote, proxy it
-                if (comm_get_txspace(proxy_vehicle.chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) 
-                    _mavlink_resend_uart(proxy_vehicle.chan, msg);
-            }
-            break;
-        }
         if (packet.start_index == 0)
         {
             // New home at wp index 0. Ask for it
@@ -724,14 +626,6 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
         uint8_t result = MAV_MISSION_ACCEPTED;
 
         mavlink_msg_mission_item_decode(msg, &packet);
-        if (mavlink_check_target(packet.target_system,packet.target_component)) {
-            if (g.proxy_mode == true && proxy_vehicle.initialised) {
-                // Its for the remote, proxy it
-                if (comm_get_txspace(proxy_vehicle.chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES) 
-                    _mavlink_resend_uart(proxy_vehicle.chan, msg);
-            }
-            break;
-        }
 
         struct Location tell_command = {};
 
@@ -814,16 +708,6 @@ mission_failed:
     {
         mavlink_manual_control_t packet;
         mavlink_msg_manual_control_decode(msg, &packet);
-
-        // if the packet is not for us, send onto the vehicle
-        if (mavlink_check_target(packet.target,0)) {
-            if (g.proxy_mode == true && proxy_vehicle.initialised) {
-                if (comm_get_txspace(proxy_vehicle.chan) > ((uint16_t)msg->len) + MAVLINK_NUM_NON_PAYLOAD_BYTES)
-                    _mavlink_resend_uart(proxy_vehicle.chan, msg);
-            }
-            break;
-        }
-        if(msg->sysid != g.sysid_my_gcs) break;                         // Only accept control from our gcs
         tracking_manual_control(packet);
         break;
     }
diff --git a/AntennaTracker/system.pde b/AntennaTracker/system.pde
index 2382e57ef9..863d106f50 100644
--- a/AntennaTracker/system.pde
+++ b/AntennaTracker/system.pde
@@ -28,6 +28,9 @@ static void init_tracker()
     // init the GCS
     gcs[0].init(hal.uartA);
 
+    // set up snooping on other mavlink destinations
+    gcs[0].set_snoop(mavlink_snoop);
+
     // Register mavlink_delay_cb, which will run anytime you have
     // more than 5ms remaining in your call to hal.scheduler->delay
     hal.scheduler->register_delay_callback(mavlink_delay_cb, 5);