diff --git a/src/modules/mc_rate_control/RateControl/RateControl.cpp b/src/modules/mc_rate_control/RateControl/RateControl.cpp
index bf659315f8..98e97816e7 100644
--- a/src/modules/mc_rate_control/RateControl/RateControl.cpp
+++ b/src/modules/mc_rate_control/RateControl/RateControl.cpp
@@ -47,13 +47,6 @@ void RateControl::setGains(const Vector3f &P, const Vector3f &I, const Vector3f
 	_gain_d = D;
 }
 
-void RateControl::setSaturationStatus(const Vector<bool, 3> &saturation_positive,
-				      const Vector<bool, 3> &saturation_negative)
-{
-	_control_allocator_saturation_positive = saturation_positive;
-	_control_allocator_saturation_negative = saturation_negative;
-}
-
 Vector3f RateControl::update(const Vector3f &rate, const Vector3f &rate_sp, const Vector3f &angular_accel,
 			     const float dt, const bool landed)
 {
@@ -102,10 +95,3 @@ void RateControl::updateIntegral(Vector3f &rate_error, const float dt)
 		}
 	}
 }
-
-void RateControl::getRateControlStatus(rate_ctrl_status_s &rate_ctrl_status)
-{
-	rate_ctrl_status.rollspeed_integ = _rate_int(0);
-	rate_ctrl_status.pitchspeed_integ = _rate_int(1);
-	rate_ctrl_status.yawspeed_integ = _rate_int(2);
-}
diff --git a/src/modules/mc_rate_control/RateControl/RateControl.hpp b/src/modules/mc_rate_control/RateControl/RateControl.hpp
index 76cf1d6e64..46646872c4 100644
--- a/src/modules/mc_rate_control/RateControl/RateControl.hpp
+++ b/src/modules/mc_rate_control/RateControl/RateControl.hpp
@@ -76,7 +76,11 @@ public:
 	 * @param control saturation vector from control allocator
 	 */
 	void setSaturationStatus(const matrix::Vector<bool, 3> &saturation_positive,
-				 const matrix::Vector<bool, 3> &saturation_negative);
+				 const matrix::Vector<bool, 3> &saturation_negative)
+	{
+		_control_allocator_saturation_positive = saturation_positive;
+		_control_allocator_saturation_negative = saturation_negative;
+	}
 
 	/**
 	 * Run one control loop cycle calculation
@@ -98,7 +102,12 @@ public:
 	 * Get status message of controller for logging/debugging
 	 * @param rate_ctrl_status status message to fill with internal states
 	 */
-	void getRateControlStatus(rate_ctrl_status_s &rate_ctrl_status);
+	void getRateControlStatus(rate_ctrl_status_s &rate_ctrl_status) const
+	{
+		rate_ctrl_status.rollspeed_integ = _rate_int(0);
+		rate_ctrl_status.pitchspeed_integ = _rate_int(1);
+		rate_ctrl_status.yawspeed_integ = _rate_int(2);
+	}
 
 private:
 	void updateIntegral(matrix::Vector3f &rate_error, const float dt);