diff --git a/APMrover2/APMrover2.cpp b/APMrover2/APMrover2.cpp
index 6f09ad2107..f10cc842f3 100644
--- a/APMrover2/APMrover2.cpp
+++ b/APMrover2/APMrover2.cpp
@@ -60,9 +60,8 @@ const AP_Scheduler::Task Rover::scheduler_tasks[] = {
     SCHED_TASK(update_mission,         50,    200),
     SCHED_TASK(update_logging1,        10,    200),
     SCHED_TASK(update_logging2,        10,    200),
-    SCHED_TASK_CLASS(GCS,                 (GCS*)&rover._gcs,       retry_deferred,         50,  500),
-    SCHED_TASK_CLASS(GCS,                 (GCS*)&rover._gcs,       update,                 50,  500),
-    SCHED_TASK_CLASS(GCS,                 (GCS*)&rover._gcs,       data_stream_send,       50, 1000),
+    SCHED_TASK_CLASS(GCS,                 (GCS*)&rover._gcs,       update_receive,                     50,    500),
+    SCHED_TASK_CLASS(GCS,                 (GCS*)&rover._gcs,       update_send,                        50,   1000),
     SCHED_TASK_CLASS(RC_Channels,         (RC_Channels*)&rover.g2.rc_channels, read_mode_switch,        7,    200),
     SCHED_TASK_CLASS(RC_Channels,         (RC_Channels*)&rover.g2.rc_channels, read_aux_all,           10,    200),
     SCHED_TASK_CLASS(AP_BattMonitor,      &rover.battery,          read,           10,  300),
diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index 0b4100b498..1efb6703a8 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -1174,8 +1174,8 @@ void Rover::mavlink_delay_cb()
     }
     if (tnow - last_50hz > 20) {
         last_50hz = tnow;
-        gcs().update();
-        gcs().data_stream_send();
+        gcs().update_receive();
+        gcs().update_send();
         notify.update();
     }
     if (tnow - last_5s > 5000) {