diff --git a/sw/airborne/autopilot.c b/sw/airborne/autopilot.c
index f1bd20f39c..5a5dafc618 100644
--- a/sw/airborne/autopilot.c
+++ b/sw/airborne/autopilot.c
@@ -235,7 +235,6 @@ void WEAK autopilot_check_in_flight(bool motors_on __attribute__((unused))) {}
 /** reset in_flight counter
  *  actual implementation is firmware dependent
  */
-void autopilot_reset_in_flight_counter(void);
 void WEAK autopilot_reset_in_flight_counter(void) {}
 
 /** set in_flight flag
diff --git a/sw/airborne/autopilot.h b/sw/airborne/autopilot.h
index 3d889b2dd1..3a051e3ea7 100644
--- a/sw/airborne/autopilot.h
+++ b/sw/airborne/autopilot.h
@@ -158,6 +158,11 @@ extern void autopilot_set_in_flight(bool in_flight);
  */
 extern bool autopilot_in_flight(void);
 
+/** reset in_flight counter
+ *  actual implementation is firmware dependent
+ */
+extern void autopilot_reset_in_flight_counter(void);
+
 /** Set power switch state
  *  This will actually enable the switch if POWER_SWITCH_GPIO is defined
  *  Also provide macro for dl_setting backward compatibility
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c b/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c
index 4901733cc5..5b1475b536 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c
+++ b/sw/airborne/firmwares/rotorcraft/autopilot_firmware.c
@@ -222,7 +222,6 @@ void autopilot_event(void)
 
 /** reset in_flight counter
  */
-void autopilot_reset_in_flight_counter(void);
 void autopilot_reset_in_flight_counter(void)
 {
   autopilot_in_flight_counter = 0;