diff --git a/ArduSub/AP_State.cpp b/ArduSub/AP_State.cpp
index 49b624fc26..595dc1a54b 100644
--- a/ArduSub/AP_State.cpp
+++ b/ArduSub/AP_State.cpp
@@ -43,15 +43,15 @@ void Sub::set_simple_mode(uint8_t b)
     if (ap.simple_mode != b) {
         if (b == 0) {
             Log_Write_Event(DATA_SET_SIMPLE_OFF);
-            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SIMPLE mode off");
+            gcs().send_statustext(MAV_SEVERITY_INFO, 0XFF, "SIMPLE mode off");
         } else if (b == 1) {
             Log_Write_Event(DATA_SET_SIMPLE_ON);
-            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SIMPLE mode on");
+            gcs().send_statustext(MAV_SEVERITY_INFO,  0XFF, "SIMPLE mode on");
         } else {
             // initialise super simple heading
             update_super_simple_bearing(true);
             Log_Write_Event(DATA_SET_SUPERSIMPLE_ON);
-            GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "SUPERSIMPLE mode on");
+            gcs().send_statustext(MAV_SEVERITY_INFO,  0XFF, "SUPERSIMPLE mode on");
         }
         ap.simple_mode = b;
     }
diff --git a/ArduSub/GCS_Mavlink.cpp b/ArduSub/GCS_Mavlink.cpp
index df1130d955..be8ef5320d 100644
--- a/ArduSub/GCS_Mavlink.cpp
+++ b/ArduSub/GCS_Mavlink.cpp
@@ -14,7 +14,7 @@ void Sub::gcs_send_heartbeat(void)
 void Sub::gcs_send_deferred(void)
 {
     gcs_send_message(MSG_RETRY_DEFERRED);
-    GCS_MAVLINK::service_statustext();
+    gcs().service_statustext();
 }
 
 /*
@@ -627,7 +627,7 @@ bool GCS_MAVLINK_Sub::try_send_message(enum ap_message id)
         break;
 
     case MSG_STATUSTEXT:
-        // depreciated, use GCS_MAVLINK::send_statustext*
+        // deprecated, use gcs().send_statustext*
         return false;
 
     case MSG_LIMITS_STATUS:
@@ -2052,7 +2052,7 @@ void Sub::gcs_check_input(void)
 
 void Sub::gcs_send_text(MAV_SEVERITY severity, const char *str)
 {
-    GCS_MAVLINK::send_statustext(severity, 0xFF, str);
+    gcs().send_statustext(severity, 0xFF, str);
 }
 
 /*
@@ -2067,5 +2067,5 @@ void Sub::gcs_send_text_fmt(MAV_SEVERITY severity, const char *fmt, ...)
     va_start(arg_list, fmt);
     va_end(arg_list);
     hal.util->vsnprintf((char *)str, sizeof(str), fmt, arg_list);
-    GCS_MAVLINK::send_statustext(severity, 0xFF, str);
+    gcs().send_statustext(severity, 0xFF, str);
 }
diff --git a/ArduSub/Sub.h b/ArduSub/Sub.h
index 63e9fad622..af8d16f7ef 100644
--- a/ArduSub/Sub.h
+++ b/ArduSub/Sub.h
@@ -220,6 +220,8 @@ private:
     static const uint8_t num_gcs = MAVLINK_COMM_NUM_BUFFERS;
 
     GCS_MAVLINK_Sub gcs_chan[MAVLINK_COMM_NUM_BUFFERS];
+    GCS _gcs; // avoid using this; use gcs()
+    GCS &gcs() { return _gcs; }
 
     // User variables
 #ifdef USERHOOK_VARIABLES
diff --git a/ArduSub/system.cpp b/ArduSub/system.cpp
index 07b4665f29..d786de9473 100644
--- a/ArduSub/system.cpp
+++ b/ArduSub/system.cpp
@@ -147,7 +147,7 @@ void Sub::init_ardupilot()
     log_init();
 #endif
 
-    GCS_MAVLINK::set_dataflash(&DataFlash);
+    gcs().set_dataflash(&DataFlash);
 
     // update motor interlock state
     update_using_interlock();