diff --git a/libraries/AC_AttitudeControl/AC_PosControl.h b/libraries/AC_AttitudeControl/AC_PosControl.h
index 68827e214d9716..34cad1bfdf8b64 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl.h
+++ b/libraries/AC_AttitudeControl/AC_PosControl.h
@@ -401,6 +401,10 @@ class AC_PosControl
 
     static const struct AP_Param::GroupInfo var_info[];
 
+    static void Write_PSCN(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel);
+    static void Write_PSCE(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel);
+    static void Write_PSCD(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel);
+
 protected:
 
     // get throttle using vibration-resistant calculation (uses feed forward with manually calculated gain)
@@ -487,13 +491,9 @@ class AC_PosControl
     // return true if on a real vehicle or SITL with lock-step scheduling
     bool has_good_timing(void) const;
 
-    void Write_PSCN(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel);
-    void Write_PSCE(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel);
-    void Write_PSCD(float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel);
-
 private:
     // convenience method for writing out the identical PSCE, PSCN, PSCD - and
     // to save bytes
-    void Write_PSCx(LogMessages ID, float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel);
+    static void Write_PSCx(LogMessages ID, float pos_target, float pos, float vel_desired, float vel_target, float vel, float accel_desired, float accel_target, float accel);
 
 };