diff --git a/ArduSub/GCS_Sub.h b/ArduSub/GCS_Sub.h
index f2f97c6b4f..edc1dccf7a 100644
--- a/ArduSub/GCS_Sub.h
+++ b/ArduSub/GCS_Sub.h
@@ -16,6 +16,9 @@ public:
     GCS_MAVLINK_Sub &chan(const uint8_t ofs) override {
         return _chan[ofs];
     };
+    const GCS_MAVLINK_Sub &chan(const uint8_t ofs) const override {
+        return _chan[ofs];
+    };
 
 private:
 
diff --git a/ArduSub/commands.cpp b/ArduSub/commands.cpp
index e6ba8346d6..31a0129996 100644
--- a/ArduSub/commands.cpp
+++ b/ArduSub/commands.cpp
@@ -91,7 +91,7 @@ bool Sub::set_home(const Location& loc, bool lock)
     Log_Write_Home_And_Origin();
 
     // send new home location to GCS
-    GCS_MAVLINK::send_home_all(loc);
+    gcs().send_home(loc);
 
     // return success
     return true;