diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_SRXL2.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_SRXL2.cpp
index 71b666dcab..c58bc57873 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_SRXL2.cpp
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_SRXL2.cpp
@@ -185,17 +185,8 @@ void AP_RCProtocol_SRXL2::update(void)
     }
 }
 
-void AP_RCProtocol_SRXL2::capture_scaled_input(const uint8_t *values_p, bool in_failsafe, int16_t new_rssi)
-{
-    AP_RCProtocol_SRXL2* srxl2 = AP_RCProtocol_SRXL2::get_singleton();
-
-    if (srxl2 != nullptr) {
-        srxl2->_capture_scaled_input(values_p, in_failsafe, new_rssi);
-    }
-}
-
 // capture SRXL2 encoded values
-void AP_RCProtocol_SRXL2::_capture_scaled_input(const uint8_t *values_p, bool in_failsafe, int16_t new_rssi)
+void AP_RCProtocol_SRXL2::capture_scaled_input(const uint8_t *values_p, bool in_failsafe, int16_t new_rssi)
 {
     _in_failsafe = in_failsafe;
     // AP rssi: -1 for unknown, 0 for no link, 255 for maximum link
@@ -273,7 +264,7 @@ void AP_RCProtocol_SRXL2::process_handshake(uint32_t baudrate)
         _handshake_start_ms = now;
         // it seems the handshake protocol only sets the baudrate after receiving data
         // since we are sending data unprompted make sure that the uart is set up correctly
-        _change_baud_rate(baudrate);
+        change_baud_rate(baudrate);
     }
 
     // we have not bootstrapped and attempts to listen first have failed
@@ -295,16 +286,6 @@ void AP_RCProtocol_SRXL2::process_handshake(uint32_t baudrate)
 
 // send data to the uart
 void AP_RCProtocol_SRXL2::send_on_uart(uint8_t* pBuffer, uint8_t length)
-{
-    AP_RCProtocol_SRXL2* srxl2 = AP_RCProtocol_SRXL2::get_singleton();
-
-    if (srxl2 != nullptr) {
-        srxl2->_send_on_uart(pBuffer, length);
-    }
-}
-
-// send data to the uart
-void AP_RCProtocol_SRXL2::_send_on_uart(uint8_t* pBuffer, uint8_t length)
 {
     AP_HAL::UARTDriver* uart = get_available_UART();
 
@@ -331,16 +312,6 @@ void AP_RCProtocol_SRXL2::_send_on_uart(uint8_t* pBuffer, uint8_t length)
 
 // change the uart baud rate
 void AP_RCProtocol_SRXL2::change_baud_rate(uint32_t baudrate)
-{
-    AP_RCProtocol_SRXL2* srxl2 = AP_RCProtocol_SRXL2::get_singleton();
-
-    if (srxl2 != nullptr) {
-        srxl2->_change_baud_rate(baudrate);
-    }
-}
-
-// change the uart baud rate
-void AP_RCProtocol_SRXL2::_change_baud_rate(uint32_t baudrate)
 {
     AP_HAL::UARTDriver* uart = get_available_UART();
     if (uart != nullptr) {
@@ -358,8 +329,11 @@ void AP_RCProtocol_SRXL2::_change_baud_rate(uint32_t baudrate)
 // baudRate - the actual baud rate (currently either 115200 or 400000)
 void srxlChangeBaudRate(uint8_t uart, uint32_t baudRate)
 {
-    AP_RCProtocol_SRXL2::change_baud_rate(baudRate);
+    AP_RCProtocol_SRXL2* srxl2 = AP_RCProtocol_SRXL2::get_singleton();
 
+    if (srxl2 != nullptr) {
+        srxl2->change_baud_rate(baudRate);
+    }
 }
 
 // User-provided routine to actually transmit a packet on the given UART:
@@ -368,7 +342,11 @@ void srxlChangeBaudRate(uint8_t uart, uint32_t baudRate)
 // length - the number of bytes contained in pBuffer that should be sent
 void srxlSendOnUart(uint8_t uart, uint8_t* pBuffer, uint8_t length)
 {
-    AP_RCProtocol_SRXL2::send_on_uart(pBuffer, length);
+    AP_RCProtocol_SRXL2* srxl2 = AP_RCProtocol_SRXL2::get_singleton();
+
+    if (srxl2 != nullptr) {
+        srxl2->send_on_uart(pBuffer, length);
+    }
 }
 
 // User-provided callback routine to fill in the telemetry data to send to the master when requested:
@@ -389,10 +367,16 @@ void srxlFillTelemetry(SrxlTelemetryData* pTelemetryData)
 // so be very careful to only do local operations
 void srxlReceivedChannelData(SrxlChannelData* pChannelData, bool isFailsafe)
 {
+    AP_RCProtocol_SRXL2* srxl2 = AP_RCProtocol_SRXL2::get_singleton();
+
+    if (srxl2 == nullptr) {
+        return;
+    }
+
     if (isFailsafe) {
-        AP_RCProtocol_SRXL2::capture_scaled_input((const uint8_t *)pChannelData->values, true, pChannelData->rssi);
+        srxl2->capture_scaled_input((const uint8_t *)pChannelData->values, true, pChannelData->rssi);
     } else {
-        AP_RCProtocol_SRXL2::capture_scaled_input((const uint8_t *)srxlChData.values, false, srxlChData.rssi);
+        srxl2->capture_scaled_input((const uint8_t *)srxlChData.values, false, srxlChData.rssi);
     }
 }
 
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_SRXL2.h b/libraries/AP_RCProtocol/AP_RCProtocol_SRXL2.h
index ab6b0d09b8..d508be7b29 100644
--- a/libraries/AP_RCProtocol/AP_RCProtocol_SRXL2.h
+++ b/libraries/AP_RCProtocol/AP_RCProtocol_SRXL2.h
@@ -39,20 +39,15 @@ public:
         return _singleton;
     }
 
-    // static functions for SRXL2 callbacks
-    static void capture_scaled_input(const uint8_t *values_p, bool in_failsafe, int16_t rssi);
-    static void send_on_uart(uint8_t* pBuffer, uint8_t length);
-    static void change_baud_rate(uint32_t baudrate);
-    // configure the VTX from Spektrum data
+    void capture_scaled_input(const uint8_t *values_p, bool in_failsafe, int16_t rssi);
+    void send_on_uart(uint8_t* pBuffer, uint8_t length);
+    void change_baud_rate(uint32_t baudrate);
 
 private:
 
     static AP_RCProtocol_SRXL2* _singleton;
 
     void _process_byte(uint32_t timestamp_us, uint8_t byte);
-    void _send_on_uart(uint8_t* pBuffer, uint8_t length);
-    void _change_baud_rate(uint32_t baudrate);
-    void _capture_scaled_input(const uint8_t *values_p, bool in_failsafe, int16_t rssi);
     void _bootstrap(uint8_t device_id);
     bool is_bootstrapped() const { return _device_id != 0; }