diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
index ed803d2716..a82a1bdf90 100644
--- a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
+++ b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp
@@ -34,39 +34,28 @@ AP_ESC_Telem::AP_ESC_Telem()
     _singleton = this;
 }
 
-// return the average motor frequency in Hz for selected motors
-float AP_ESC_Telem::get_average_motor_frequency_hz(uint32_t servo_channel_mask) const
+// return the average motor RPM
+float AP_ESC_Telem::get_average_motor_rpm(uint32_t servo_channel_mask) const
 {
-    float motor_freq = 0.0f;
+    float rpm_avg = 0.0f;
     uint8_t valid_escs = 0;
 
-    // average the rpm of each motor and convert to Hz
+    // average the rpm of each motor
     for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) {
         if (BIT_IS_SET(servo_channel_mask,i)) {
             float rpm;
             if (get_rpm(i, rpm)) {
-                motor_freq += rpm * (1.0f / 60.0f);
+                rpm_avg += rpm;
                 valid_escs++;
             }
         }
     }
+
     if (valid_escs > 0) {
-        motor_freq /= valid_escs;
+        rpm_avg /= valid_escs;
     }
 
-    return motor_freq;
-}
-
-// return the average motor frequency in Hz for dynamic filtering
-float AP_ESC_Telem::get_average_motor_frequency_hz() const
-{
-    return get_average_motor_frequency_hz(0xFFFFFFFF);
-}
-
-// return the average motor rpm for selected motor channels
-float AP_ESC_Telem::get_average_motor_rpm(uint32_t servo_channel_mask) const
-{
-    return get_average_motor_frequency_hz(servo_channel_mask)*60.f; // Hz to rpm
+    return rpm_avg;
 }
 
 // return all the motor frequencies in Hz for dynamic filtering
diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem.h b/libraries/AP_ESC_Telem/AP_ESC_Telem.h
index 0fde9bb44a..021f5b277f 100644
--- a/libraries/AP_ESC_Telem/AP_ESC_Telem.h
+++ b/libraries/AP_ESC_Telem/AP_ESC_Telem.h
@@ -27,6 +27,12 @@ public:
     // get an individual ESC's raw rpm if available
     bool get_raw_rpm(uint8_t esc_index, float& rpm) const;
 
+    // return the average motor RPM
+    float get_average_motor_rpm(uint32_t servo_channel_mask) const;
+
+    // return the average motor RPM
+    float get_average_motor_rpm() const { return get_average_motor_rpm(0xFFFFFFFF); }
+
     // get an individual ESC's temperature in centi-degrees if available, returns true on success
     bool get_temperature(uint8_t esc_index, int16_t& temp) const;
 
@@ -45,14 +51,11 @@ public:
     // get an individual ESC's consumption in milli-Ampere.hour if available, returns true on success
     bool get_consumption_mah(uint8_t esc_index, float& consumption_mah) const;
 
-    // return the average selected motor rpm
-    float get_average_motor_rpm(uint32_t esc_mask) const;
+    // return the average motor frequency in Hz for dynamic filtering
+    float get_average_motor_frequency_hz(uint32_t servo_channel_mask) const { return get_average_motor_rpm(servo_channel_mask) * (1.0f / 60.0f); };
 
     // return the average motor frequency in Hz for dynamic filtering
-    float get_average_motor_frequency_hz(uint32_t esc_mask) const;
-
-    // return the average motor frequency in Hz for dynamic filtering
-    float get_average_motor_frequency_hz() const;
+    float get_average_motor_frequency_hz() const { return get_average_motor_frequency_hz(0xFFFFFFFF); }
 
     // return all of the motor frequencies in Hz for dynamic filtering
     uint8_t get_motor_frequencies_hz(uint8_t nfreqs, float* freqs) const;