diff --git a/libraries/GCS_MAVLink/GCS.h b/libraries/GCS_MAVLink/GCS.h
index 6a20cf11b2..3652c20431 100644
--- a/libraries/GCS_MAVLink/GCS.h
+++ b/libraries/GCS_MAVLink/GCS.h
@@ -13,7 +13,6 @@
 #include <DataFlash.h>
 #include <AP_Mission.h>
 #include "../AP_BattMonitor/AP_BattMonitor.h"
-#include <AP_RCMapper.h>
 #include <stdint.h>
 
 //  GCS Message ID's
@@ -193,7 +192,7 @@ public:
     void send_ahrs2(AP_AHRS &ahrs);
     bool send_gps_raw(AP_GPS &gps);
     void send_system_time(AP_GPS &gps);
-    void send_radio_in(const RCMapper &rcmap, uint8_t receiver_rssi);
+    void send_radio_in(uint8_t receiver_rssi);
     void send_raw_imu(const AP_InertialSensor &ins, const Compass &compass);
     void send_scaled_pressure(AP_Baro &barometer);
     void send_sensor_offsets(const AP_InertialSensor &ins, const Compass &compass, AP_Baro &barometer);
diff --git a/libraries/GCS_MAVLink/GCS_Common.cpp b/libraries/GCS_MAVLink/GCS_Common.cpp
index 67bb8487a7..45464586b0 100644
--- a/libraries/GCS_MAVLink/GCS_Common.cpp
+++ b/libraries/GCS_MAVLink/GCS_Common.cpp
@@ -981,7 +981,7 @@ void GCS_MAVLINK::send_system_time(AP_GPS &gps)
 /*
   send RC_CHANNELS_RAW, and RC_CHANNELS messages
  */
-void GCS_MAVLINK::send_radio_in(const RCMapper &rcmap, uint8_t receiver_rssi)
+void GCS_MAVLINK::send_radio_in(uint8_t receiver_rssi)
 {
     uint32_t now = hal.scheduler->millis();
 
@@ -993,10 +993,10 @@ void GCS_MAVLINK::send_radio_in(const RCMapper &rcmap, uint8_t receiver_rssi)
         chan,
         now,
         0, // port
-        values[rcmap.roll()-1],
-        values[rcmap.pitch()-1],
-        values[rcmap.throttle()-1],
-        values[rcmap.yaw()-1],
+        values[0],
+        values[1],
+        values[2],
+        values[3],
         values[4],
         values[5],
         values[6],