diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index 9ac55f454f..26db283dd7 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -145,15 +145,15 @@ int16_t GCS_MAVLINK_Rover::vfr_hud_throttle() const
     return rover.g2.motors.get_throttle();
 }
 
-void Rover::send_rangefinder(mavlink_channel_t chan)
+void GCS_MAVLINK_Rover::send_rangefinder() const
 {
     float distance_cm;
     float voltage;
     bool got_one = false;
 
     // report smaller distance of all rangefinders
-    for (uint8_t i=0; i<rangefinder.num_sensors(); i++) {
-        AP_RangeFinder_Backend *s = rangefinder.get_backend(i);
+    for (uint8_t i=0; i<rover.rangefinder.num_sensors(); i++) {
+        AP_RangeFinder_Backend *s = rover.rangefinder.get_backend(i);
         if (s == nullptr) {
             continue;
         }
@@ -340,13 +340,6 @@ bool GCS_MAVLINK_Rover::try_send_message(enum ap_message id)
         rover.send_servo_out(chan);
         break;
 
-    case MSG_RANGEFINDER:
-        CHECK_PAYLOAD_SIZE(RANGEFINDER);
-        rover.send_rangefinder(chan);
-        send_distance_sensor();
-        send_proximity();
-        break;
-
     case MSG_RPM:
         CHECK_PAYLOAD_SIZE(RPM);
         rover.send_wheel_encoder(chan);
@@ -512,6 +505,7 @@ static const ap_message STREAM_EXTRA3_msgs[] = {
     MSG_HWSTATUS,
     MSG_WIND,
     MSG_RANGEFINDER,
+    MSG_DISTANCE_SENSOR,
     MSG_SYSTEM_TIME,
     MSG_BATTERY2,
     MSG_BATTERY_STATUS,
diff --git a/APMrover2/GCS_Mavlink.h b/APMrover2/GCS_Mavlink.h
index adddd7b275..8f6e38d7fe 100644
--- a/APMrover2/GCS_Mavlink.h
+++ b/APMrover2/GCS_Mavlink.h
@@ -48,4 +48,6 @@ private:
 
     int16_t vfr_hud_throttle() const override;
 
+    void send_rangefinder() const override;
+
 };
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index 422544c0a2..94da5f0a4e 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -434,7 +434,6 @@ private:
     void send_sys_status(mavlink_channel_t chan);
     void send_nav_controller_output(mavlink_channel_t chan);
     void send_servo_out(mavlink_channel_t chan);
-    void send_rangefinder(mavlink_channel_t chan);
     void send_pid_tuning(mavlink_channel_t chan);
     void send_wheel_encoder(mavlink_channel_t chan);
     void send_fence_status(mavlink_channel_t chan);