diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index f6abd52f1e..bebe4a9da2 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -99,6 +99,7 @@
 #include "config.h"
 
 #include "GCS_Mavlink.h"
+#include "GCS_Copter.h"
 #include "AP_Rally.h"           // Rally point library
 #include "AP_Arming.h"
 
@@ -136,6 +137,7 @@
 class Copter : public AP_HAL::HAL::Callbacks {
 public:
     friend class GCS_MAVLINK_Copter;
+    friend class GCS_Copter;
     friend class AP_Rally_Copter;
     friend class Parameters;
     friend class ParametersG2;
@@ -245,11 +247,8 @@ private:
 
     // GCS selection
     AP_SerialManager serial_manager;
-    static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
-
-    GCS_MAVLINK_Copter gcs_chan[MAVLINK_COMM_NUM_BUFFERS];
-    GCS _gcs; // avoid using this; use gcs()
-    GCS &gcs() { return _gcs; }
+    GCS_Copter _gcs; // avoid using this; use gcs()
+    GCS_Copter &gcs() { return _gcs; }
 
     // User variables
 #ifdef USERHOOK_VARIABLES
diff --git a/ArduCopter/GCS_Copter.cpp b/ArduCopter/GCS_Copter.cpp
new file mode 100644
index 0000000000..989bb5450f
--- /dev/null
+++ b/ArduCopter/GCS_Copter.cpp
@@ -0,0 +1,15 @@
+#include "GCS_Copter.h"
+#include "Copter.h"
+
+bool GCS_Copter::cli_enabled() const
+{
+#if CLI_ENABLED == ENABLED
+    return copter.g.cli_enabled;
+#else
+    return false;
+#endif
+}
+
+AP_HAL::BetterStream* GCS_Copter::cliSerial() {
+    return copter.cliSerial;
+}
diff --git a/ArduCopter/GCS_Copter.h b/ArduCopter/GCS_Copter.h
new file mode 100644
index 0000000000..6cb03557a7
--- /dev/null
+++ b/ArduCopter/GCS_Copter.h
@@ -0,0 +1,27 @@
+#pragma once
+
+#include <GCS_MAVLink/GCS.h>
+#include "GCS_Mavlink.h"
+
+class GCS_Copter : public GCS
+{
+    friend class Copter; // for access to _chan in parameter declarations
+
+public:
+
+    // return the number of valid GCS objects
+    uint8_t num_gcs() const override { return ARRAY_SIZE(_chan); };
+
+    // return GCS link at offset ofs
+    GCS_MAVLINK_Copter &chan(const uint8_t ofs) override {
+        return _chan[ofs];
+    };
+
+private:
+
+    GCS_MAVLINK_Copter _chan[MAVLINK_COMM_NUM_BUFFERS];
+
+    bool cli_enabled() const override;
+    AP_HAL::BetterStream* cliSerial() override;
+
+};
diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index f65439bb55..078628bd67 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -78,7 +78,7 @@ NOINLINE void Copter::send_heartbeat(mavlink_channel_t chan)
     // indicate we have set a custom mode
     base_mode |= MAV_MODE_FLAG_CUSTOM_MODE_ENABLED;
 
-    gcs_chan[chan-MAVLINK_COMM_0].send_heartbeat(get_frame_mav_type(),
+    gcs().chan(chan-MAVLINK_COMM_0).send_heartbeat(get_frame_mav_type(),
                                             base_mode,
                                             custom_mode,
                                             system_status);
@@ -2018,7 +2018,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
 void Copter::mavlink_delay_cb()
 {
     static uint32_t last_1hz, last_50hz, last_5s;
-    if (!gcs_chan[0].initialised || in_mavlink_delay) return;
+    if (!gcs().chan(0).initialised || in_mavlink_delay) return;
 
     in_mavlink_delay = true;
     DataFlash.EnableWrites(false);
@@ -2051,11 +2051,7 @@ void Copter::mavlink_delay_cb()
  */
 void Copter::gcs_send_message(enum ap_message id)
 {
-    for (uint8_t i=0; i<num_gcs; i++) {
-        if (gcs_chan[i].initialised) {
-            gcs_chan[i].send_message(id);
-        }
-    }
+    gcs().send_message(id);
 }
 
 /*
@@ -2063,12 +2059,7 @@ void Copter::gcs_send_message(enum ap_message id)
  */
 void Copter::gcs_send_mission_item_reached_message(uint16_t mission_index)
 {
-    for (uint8_t i=0; i<num_gcs; i++) {
-        if (gcs_chan[i].initialised) {
-            gcs_chan[i].mission_item_reached_index = mission_index;
-            gcs_chan[i].send_message(MSG_MISSION_ITEM_REACHED);
-        }
-    }
+    gcs().send_mission_item_reached_message(mission_index);
 }
 
 /*
@@ -2076,11 +2067,7 @@ void Copter::gcs_send_mission_item_reached_message(uint16_t mission_index)
  */
 void Copter::gcs_data_stream_send(void)
 {
-    for (uint8_t i=0; i<num_gcs; i++) {
-        if (gcs_chan[i].initialised) {
-            gcs_chan[i].data_stream_send();
-        }
-    }
+    gcs().data_stream_send();
 }
 
 /*
@@ -2088,15 +2075,7 @@ void Copter::gcs_data_stream_send(void)
  */
 void Copter::gcs_check_input(void)
 {
-    for (uint8_t i=0; i<num_gcs; i++) {
-        if (gcs_chan[i].initialised) {
-#if CLI_ENABLED == ENABLED
-            gcs_chan[i].update(g.cli_enabled==1?FUNCTOR_BIND_MEMBER(&Copter::run_cli, void, AP_HAL::UARTDriver *):nullptr);
-#else
-            gcs_chan[i].update(nullptr);
-#endif
-        }
-    }
+    gcs().update();
 }
 
 void Copter::gcs_send_text(MAV_SEVERITY severity, const char *str)
diff --git a/ArduCopter/Log.cpp b/ArduCopter/Log.cpp
index 12c5fd0713..55f32c9b7f 100644
--- a/ArduCopter/Log.cpp
+++ b/ArduCopter/Log.cpp
@@ -937,9 +937,7 @@ void Copter::log_init(void)
 {
     DataFlash.Init(log_structure, ARRAY_SIZE(log_structure));
 
-    for (uint8_t i=0; i<num_gcs; i++) {
-        gcs_chan[i].reset_cli_timeout();
-    }
+    gcs().reset_cli_timeout();
 }
 
 #else // LOGGING_ENABLED
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
index 53460e71b8..302e14ff73 100644
--- a/ArduCopter/Parameters.cpp
+++ b/ArduCopter/Parameters.cpp
@@ -702,19 +702,19 @@ const AP_Param::Info Copter::var_info[] = {
 
     // @Group: SR0_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(gcs_chan[0],  gcs0,       "SR0_",     GCS_MAVLINK),
+    GOBJECTN(_gcs._chan[0],  gcs0,       "SR0_",     GCS_MAVLINK),
 
     // @Group: SR1_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(gcs_chan[1],  gcs1,       "SR1_",     GCS_MAVLINK),
+    GOBJECTN(_gcs._chan[1],  gcs1,       "SR1_",     GCS_MAVLINK),
 
     // @Group: SR2_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(gcs_chan[2],  gcs2,       "SR2_",     GCS_MAVLINK),
+    GOBJECTN(_gcs._chan[2],  gcs2,       "SR2_",     GCS_MAVLINK),
 
     // @Group: SR3_
     // @Path: GCS_Mavlink.cpp
-    GOBJECTN(gcs_chan[3],  gcs3,       "SR3_",     GCS_MAVLINK),
+    GOBJECTN(_gcs._chan[3],  gcs3,       "SR3_",     GCS_MAVLINK),
 
     // @Group: AHRS_
     // @Path: ../libraries/AP_AHRS/AP_AHRS.cpp
diff --git a/ArduCopter/compassmot.cpp b/ArduCopter/compassmot.cpp
index 8d18f71b36..d69bef95a7 100644
--- a/ArduCopter/compassmot.cpp
+++ b/ArduCopter/compassmot.cpp
@@ -38,9 +38,11 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
         interference_pct[i] = 0.0f;
     }
 
+    GCS_MAVLINK_Copter &gcs_chan = gcs().chan(chan-MAVLINK_COMM_0);
+
     // check compass is enabled
     if (!g.compass_enabled) {
-        gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "Compass disabled");
+        gcs_chan.send_text(MAV_SEVERITY_CRITICAL, "Compass disabled");
         ap.compass_mot = false;
         return MAV_RESULT_TEMPORARILY_REJECTED;
     }
@@ -49,7 +51,7 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
     compass.read();
     for (uint8_t i=0; i<compass.get_count(); i++) {
         if (!compass.healthy(i)) {
-            gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "Check compass");
+            gcs_chan.send_text(MAV_SEVERITY_CRITICAL, "Check compass");
             ap.compass_mot = false;
             return MAV_RESULT_TEMPORARILY_REJECTED;
         }
@@ -58,7 +60,7 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
     // check if radio is calibrated
     arming.pre_arm_rc_checks(true);
     if (!ap.pre_arm_rc_check) {
-        gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "RC not calibrated");
+        gcs_chan.send_text(MAV_SEVERITY_CRITICAL, "RC not calibrated");
         ap.compass_mot = false;
         return MAV_RESULT_TEMPORARILY_REJECTED;
     }
@@ -66,14 +68,14 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
     // check throttle is at zero
     read_radio();
     if (channel_throttle->get_control_in() != 0) {
-        gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "Throttle not zero");
+        gcs_chan.send_text(MAV_SEVERITY_CRITICAL, "Throttle not zero");
         ap.compass_mot = false;
         return MAV_RESULT_TEMPORARILY_REJECTED;
     }
 
     // check we are landed
     if (!ap.land_complete) {
-        gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL, "Not landed");
+        gcs_chan.send_text(MAV_SEVERITY_CRITICAL, "Not landed");
         ap.compass_mot = false;
         return MAV_RESULT_TEMPORARILY_REJECTED;
     }
@@ -98,13 +100,13 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
     AP_Notify::flags.esc_calibration = true;
 
     // warn user we are starting calibration
-    gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Starting calibration");
+    gcs_chan.send_text(MAV_SEVERITY_INFO, "Starting calibration");
 
     // inform what type of compensation we are attempting
     if (comp_type == AP_COMPASS_MOT_COMP_CURRENT) {
-        gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Current");
+        gcs_chan.send_text(MAV_SEVERITY_INFO, "Current");
     } else{
-        gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Throttle");
+        gcs_chan.send_text(MAV_SEVERITY_INFO, "Throttle");
     }
 
     // disable throttle and battery failsafe
@@ -250,10 +252,10 @@ MAV_RESULT Copter::mavlink_compassmot(mavlink_channel_t chan)
         }
         compass.save_motor_compensation();
         // display success message
-        gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_INFO, "Calibration successful");
+        gcs_chan.send_text(MAV_SEVERITY_INFO, "Calibration successful");
     } else {
         // compensation vector never updated, report failure
-        gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_NOTICE, "Failed");
+        gcs_chan.send_text(MAV_SEVERITY_NOTICE, "Failed");
         compass.motor_compensation_type(AP_COMPASS_MOT_COMP_DISABLED);
     }
 
diff --git a/ArduCopter/motor_test.cpp b/ArduCopter/motor_test.cpp
index 3793e6bcda..ff587aaa1d 100644
--- a/ArduCopter/motor_test.cpp
+++ b/ArduCopter/motor_test.cpp
@@ -72,28 +72,30 @@ void Copter::motor_test_output()
 //  return true if tests can continue, false if not
 bool Copter::mavlink_motor_test_check(mavlink_channel_t chan, bool check_rc)
 {
+    GCS_MAVLINK_Copter &gcs_chan = gcs().chan(chan-MAVLINK_COMM_0);
+
     // check board has initialised
     if (!ap.initialised) {
-        gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL,"Motor Test: Board initialising");
+        gcs_chan.send_text(MAV_SEVERITY_CRITICAL,"Motor Test: Board initialising");
         return false;
     }
 
     // check rc has been calibrated
     arming.pre_arm_rc_checks(true);
     if(check_rc && !ap.pre_arm_rc_check) {
-        gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL,"Motor Test: RC not calibrated");
+        gcs_chan.send_text(MAV_SEVERITY_CRITICAL,"Motor Test: RC not calibrated");
         return false;
     }
 
     // ensure we are landed
     if (!ap.land_complete) {
-        gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL,"Motor Test: vehicle not landed");
+        gcs_chan.send_text(MAV_SEVERITY_CRITICAL,"Motor Test: vehicle not landed");
         return false;
     }
 
     // check if safety switch has been pushed
     if (hal.util->safety_switch_state() == AP_HAL::Util::SAFETY_DISARMED) {
-        gcs_chan[chan-MAVLINK_COMM_0].send_text(MAV_SEVERITY_CRITICAL,"Motor Test: Safety switch");
+        gcs_chan.send_text(MAV_SEVERITY_CRITICAL,"Motor Test: Safety switch");
         return false;
     }
 
diff --git a/ArduCopter/system.cpp b/ArduCopter/system.cpp
index cbbd94adb9..b8f809c2b5 100644
--- a/ArduCopter/system.cpp
+++ b/ArduCopter/system.cpp
@@ -120,7 +120,15 @@ void Copter::init_ardupilot()
     serial_manager.init();
 
     // setup first port early to allow BoardConfig to report errors
-    gcs_chan[0].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
+    gcs().chan(0).setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, 0);
+
+
+#if CLI_ENABLED == ENABLED
+    // specify callback function for CLI menu system
+    if (g.cli_enabled) {
+        gcs().set_run_cli_func(FUNCTOR_BIND_MEMBER(&Copter::run_cli, void, AP_HAL::UARTDriver *));
+    }
+#endif
 
     // Register mavlink_delay_cb, which will run anytime you have
     // more than 5ms remaining in your call to hal.scheduler->delay
@@ -154,9 +162,7 @@ void Copter::init_ardupilot()
     check_usb_mux();
 
     // setup telem slots with serial ports
-    for (uint8_t i = 1; i < MAVLINK_COMM_NUM_BUFFERS; i++) {
-        gcs_chan[i].setup_uart(serial_manager, AP_SerialManager::SerialProtocol_MAVLink, i);
-    }
+    gcs().setup_uarts(serial_manager);
 
 #if FRSKY_TELEM_ENABLED == ENABLED
     // setup frsky, and pass a number of parameters to the library
@@ -249,16 +255,7 @@ void Copter::init_ardupilot()
 #endif
 
 #if CLI_ENABLED == ENABLED
-    if (g.cli_enabled) {
-        const char *msg = "\nPress ENTER 3 times to start interactive setup\n";
-        cliSerial->printf("%s\n", msg);
-        if (gcs_chan[1].initialised && (gcs_chan[1].get_uart() != nullptr)) {
-            gcs_chan[1].get_uart()->printf("%s\n", msg);
-        }
-        if (num_gcs > 2 && gcs_chan[2].initialised && (gcs_chan[2].get_uart() != nullptr)) {
-            gcs_chan[2].get_uart()->printf("%s\n", msg);
-        }
-    }
+    gcs().handle_interactive_setup();
 #endif // CLI_ENABLED
 
 #if HIL_MODE != HIL_MODE_DISABLED