diff --git a/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c b/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
index 01f5ea7b0f..8951f601af 100644
--- a/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
+++ b/platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
@@ -200,7 +200,7 @@ void up_dshot_trigger(void)
 * bit 	12		- dshot telemetry enable/disable
 * bits 	13-16	- XOR checksum
 **/
-static void dshot_motor_data_set(uint32_t motor_number, uint16_t throttle, bool telemetry)
+void dshot_motor_data_set(unsigned motor_number, uint16_t throttle, bool telemetry)
 {
 	uint16_t packet = 0;
 	uint16_t checksum = 0;
@@ -234,16 +234,6 @@ static void dshot_motor_data_set(uint32_t motor_number, uint16_t throttle, bool
 	motor_buffer[motor_number * ONE_MOTOR_BUFF_SIZE + DSHOT_END_OF_STREAM] = 0;
 }
 
-void up_dshot_motor_data_set(unsigned motor_number, uint16_t throttle, bool telemetry)
-{
-	dshot_motor_data_set(motor_number, throttle + DShot_cmd_MIN_throttle, telemetry);
-}
-
-void up_dshot_motor_command(unsigned channel, uint16_t command, bool telemetry)
-{
-	dshot_motor_data_set(channel, command, telemetry);
-}
-
 void dshot_dmar_data_prepare(uint8_t timer, uint8_t first_motor, uint8_t motors_number)
 {
 	uint32_t *buffer = dshot_burst_buffer[timer];
diff --git a/src/drivers/drv_pwm_output.h b/src/drivers/drv_pwm_output.h
index 25d0c659d0..aa44f4d508 100644
--- a/src/drivers/drv_pwm_output.h
+++ b/src/drivers/drv_pwm_output.h
@@ -408,6 +408,11 @@ __EXPORT extern servo_position_t up_pwm_servo_get(unsigned channel);
  */
 __EXPORT extern int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq);
 
+/**
+ * Set Dshot motor data, used by up_dshot_motor_data_set() and up_dshot_motor_command() (internal method)
+ */
+__EXPORT extern void dshot_motor_data_set(unsigned motor_number, uint16_t throttle, bool telemetry);
+
 /**
  * Set the current dshot throttle value for a channel (motor).
  *
@@ -415,7 +420,10 @@ __EXPORT extern int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq
  * @param throttle	The output dshot throttle value in [0 = DSHOT_DISARM_VALUE, 1 = DSHOT_MIN_THROTTLE, 1999 = DSHOT_MAX_THROTTLE].
  * @param telemetry	If true, request telemetry from that motor
  */
-__EXPORT extern void up_dshot_motor_data_set(unsigned channel, uint16_t throttle, bool telemetry);
+static inline void up_dshot_motor_data_set(unsigned channel, uint16_t throttle, bool telemetry)
+{
+	dshot_motor_data_set(channel, throttle + DShot_cmd_MIN_throttle, telemetry);
+}
 
 /**
  * Send DShot command to a channel (motor).
@@ -424,7 +432,11 @@ __EXPORT extern void up_dshot_motor_data_set(unsigned channel, uint16_t throttle
  * @param command	dshot_command_t
  * @param telemetry	If true, request telemetry from that motor
  */
-__EXPORT extern void up_dshot_motor_command(unsigned channel, uint16_t command, bool telemetry);
+static inline void up_dshot_motor_command(unsigned channel, uint16_t command, bool telemetry)
+{
+	dshot_motor_data_set(channel, command, telemetry);
+}
+
 
 /**
  * Trigger dshot data transfer.