diff --git a/src/lib/conversion/rotation.cpp b/src/lib/conversion/rotation.cpp
index 19f9967880..3d00bf7db2 100644
--- a/src/lib/conversion/rotation.cpp
+++ b/src/lib/conversion/rotation.cpp
@@ -56,3 +56,31 @@ get_rot_quaternion(enum Rotation rot)
 			math::radians((float)rot_lookup[rot].pitch),
 			math::radians((float)rot_lookup[rot].yaw)}};
 }
+
+__EXPORT void
+rotate_3i(enum Rotation rot, int16_t &x, int16_t &y, int16_t &z)
+{
+	if (!rotate_3(rot, x, y, z)) {
+		// otherwise use full rotation matrix for valid rotations
+		if (rot < ROTATION_MAX) {
+			const matrix::Vector3f r{get_rot_matrix(rot) *matrix::Vector3f{(float)x, (float)y, (float)z}};
+			x = math::constrain(roundf(r(0)), (float)INT16_MIN, (float)INT16_MAX);
+			y = math::constrain(roundf(r(1)), (float)INT16_MIN, (float)INT16_MAX);
+			z = math::constrain(roundf(r(2)), (float)INT16_MIN, (float)INT16_MAX);
+		}
+	}
+}
+
+__EXPORT void
+rotate_3f(enum Rotation rot, float &x, float &y, float &z)
+{
+	if (!rotate_3(rot, x, y, z)) {
+		// otherwise use full rotation matrix for valid rotations
+		if (rot < ROTATION_MAX) {
+			const matrix::Vector3f r{get_rot_matrix(rot) *matrix::Vector3f{x, y, z}};
+			x = r(0);
+			y = r(1);
+			z = r(2);
+		}
+	}
+}
diff --git a/src/lib/conversion/rotation.h b/src/lib/conversion/rotation.h
index b33e4a8383..350404723e 100644
--- a/src/lib/conversion/rotation.h
+++ b/src/lib/conversion/rotation.h
@@ -157,8 +157,18 @@ __EXPORT matrix::Dcmf get_rot_matrix(enum Rotation rot);
  */
 __EXPORT matrix::Quatf get_rot_quaternion(enum Rotation rot);
 
+/**
+ * rotate a 3 element int16_t vector in-place
+ */
+__EXPORT void rotate_3i(enum Rotation rot, int16_t &x, int16_t &y, int16_t &z);
+
+/**
+ * rotate a 3 element float vector in-place
+ */
+__EXPORT void rotate_3f(enum Rotation rot, float &x, float &y, float &z);
+
 template<typename T>
-static constexpr bool rotate_3(enum Rotation rot, T &x, T &y, T &z)
+static bool rotate_3(enum Rotation rot, T &x, T &y, T &z)
 {
 	switch (rot) {
 	case ROTATION_NONE:
@@ -371,35 +381,3 @@ static constexpr bool rotate_3(enum Rotation rot, T &x, T &y, T &z)
 
 	return false;
 }
-
-/**
- * rotate a 3 element int16_t vector in-place
- */
-__EXPORT inline void rotate_3i(enum Rotation rot, int16_t &x, int16_t &y, int16_t &z)
-{
-	if (!rotate_3(rot, x, y, z)) {
-		// otherwise use full rotation matrix for valid rotations
-		if (rot < ROTATION_MAX) {
-			const matrix::Vector3f r{get_rot_matrix(rot) *matrix::Vector3f{(float)x, (float)y, (float)z}};
-			x = math::constrain(roundf(r(0)), (float)INT16_MIN, (float)INT16_MAX);
-			y = math::constrain(roundf(r(1)), (float)INT16_MIN, (float)INT16_MAX);
-			z = math::constrain(roundf(r(2)), (float)INT16_MIN, (float)INT16_MAX);
-		}
-	}
-}
-
-/**
- * rotate a 3 element float vector in-place
- */
-__EXPORT inline void rotate_3f(enum Rotation rot, float &x, float &y, float &z)
-{
-	if (!rotate_3(rot, x, y, z)) {
-		// otherwise use full rotation matrix for valid rotations
-		if (rot < ROTATION_MAX) {
-			const matrix::Vector3f r{get_rot_matrix(rot) *matrix::Vector3f{x, y, z}};
-			x = r(0);
-			y = r(1);
-			z = r(2);
-		}
-	}
-}