diff --git a/libraries/AP_DCM/AP_DCM.cpp b/libraries/AP_DCM/AP_DCM.cpp
index f038b3237b..acf62f130a 100644
--- a/libraries/AP_DCM/AP_DCM.cpp
+++ b/libraries/AP_DCM/AP_DCM.cpp
@@ -52,33 +52,6 @@ AP_DCM::update_DCM(float _G_Dt)
 }
 
 /**************************************************/
-Vector3f
-AP_DCM::get_gyro(void)
-{
-	return _omega_integ_corr;
-}	// We return the raw gyro vector corrected for bias
-
-/**************************************************/
-Vector3f
-AP_DCM::get_accel(void)
-{
-	return _accel_vector;
-}
-
-/**************************************************/
-Matrix3f
-AP_DCM::get_dcm_matrix(void)
-{
-	return _dcm_matrix;
-}
-
-/**************************************************/
-Matrix3f
-AP_DCM::get_dcm_transposed(void)
-{	
-	return _dcm_matrix.transpose();
-}
-
 
     //For Debugging
 /*
diff --git a/libraries/AP_DCM/AP_DCM.h b/libraries/AP_DCM/AP_DCM.h
index e760bc8392..e14f4375fc 100644
--- a/libraries/AP_DCM/AP_DCM.h
+++ b/libraries/AP_DCM/AP_DCM.h
@@ -44,10 +44,10 @@ public:
 	{}
 
 	// Accessors
-	Vector3f	get_gyro(void);
-	Vector3f	get_accel(void);
-	Matrix3f	get_dcm_matrix(void);
-	Matrix3f	get_dcm_transposed(void);
+	Vector3f	get_gyro(void) {return _omega_integ_corr; }		// We return the raw gyro vector corrected for bias
+	Vector3f	get_accel(void) { return _accel_vector; }
+	Matrix3f	get_dcm_matrix(void) {return _dcm_matrix; }
+	Matrix3f	get_dcm_transposed(void) {Matrix3f temp = _dcm_matrix;  return temp.transpose();}
 	
 	void		set_centripetal(bool b);
 	void		set_compass(Compass *compass);
diff --git a/libraries/AP_DCM/AP_DCM_HIL.h b/libraries/AP_DCM/AP_DCM_HIL.h
index 1795eae2bf..1fce1c1f4f 100644
--- a/libraries/AP_DCM/AP_DCM_HIL.h
+++ b/libraries/AP_DCM/AP_DCM_HIL.h
@@ -25,6 +25,7 @@ public:
 	Vector3f	get_gyro(void) {return _omega_integ_corr; }
 	Vector3f	get_accel(void) { return _accel_vector; }
 	Matrix3f	get_dcm_matrix(void) {return _dcm_matrix; }
+	Matrix3f	get_dcm_transposed(void) {Matrix3f temp = _dcm_matrix;  return temp.transpose();}
 	
 	void		set_centripetal(bool b) {}
 	void		set_compass(Compass *compass) {}