diff --git a/src/modules/mc_att_control/mc_att_control_base.h b/src/modules/mc_att_control/mc_att_control_base.h
index 995838bb27..8f1cf015ea 100644
--- a/src/modules/mc_att_control/mc_att_control_base.h
+++ b/src/modules/mc_att_control/mc_att_control_base.h
@@ -76,6 +76,8 @@
 #include <systemlib/perf_counter.h>
 //#include <systemlib/systemlib.h>
 #include <lib/mathlib/mathlib.h>
+#include <Eigen/Eigen>
+
 
 
 /**
@@ -105,6 +107,14 @@ public:
 	 *
 	 * @return		OK on success.
 	 */
+	void control_attitude(float dt);
+	void control_attitude_rates(float dt);
+	 // setters and getters for interface with euroc-gazebo simulator
+	void set_attitude(const Eigen::Quaternion<double> attitude);
+	void set_attitude_rates(const Eigen::Vector3d& angular_rate);
+	void set_attitude_reference(const Eigen::Vector4d& control_attitude_thrust_reference);
+	void get_mixer_input(Eigen::Vector4d& motor_inputs);
+	void set_actuator_controls();
 
 protected:
 
@@ -161,15 +171,10 @@ protected:
 	/**
 	 * Attitude rates controller.
 	 */
-	void control_attitude(float dt);
-	void control_attitude_rates(float dt);
-
+	
 	void vehicle_attitude_setpoint_poll();	//provisional
 
-	// setters and getters for interface with euroc-gazebo simulator
-	void set_attitude(const Eigen::Quaternion<double>& attitude);
-	void set_attitude_rates(const Eigen::Vector3d& angular_rate);
-	void set_attitude_reference(const Eigen::Vector4d& control_attitude_thrust_reference);
+