diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
index 911f170a7c..a4af72ceac 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.cpp
@@ -35,9 +35,10 @@ extern const AP_HAL::HAL& hal;
    constructor is not called until detect() returns true, so we
    already know that we should setup the rangefinder
 */
-AP_RangeFinder_MaxsonarI2CXL::AP_RangeFinder_MaxsonarI2CXL(RangeFinder::RangeFinder_State &_state)
+AP_RangeFinder_MaxsonarI2CXL::AP_RangeFinder_MaxsonarI2CXL(RangeFinder::RangeFinder_State &_state,
+                                                           AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
     : AP_RangeFinder_Backend(_state)
-    , _dev(hal.i2c_mgr->get_device(1, AP_RANGE_FINDER_MAXSONARI2CXL_DEFAULT_ADDR))
+    , _dev(std::move(dev))
 {
 }
 
@@ -46,10 +47,11 @@ AP_RangeFinder_MaxsonarI2CXL::AP_RangeFinder_MaxsonarI2CXL(RangeFinder::RangeFin
    trying to take a reading on I2C. If we get a result the sensor is
    there.
 */
-AP_RangeFinder_Backend *AP_RangeFinder_MaxsonarI2CXL::detect(RangeFinder::RangeFinder_State &_state)
+AP_RangeFinder_Backend *AP_RangeFinder_MaxsonarI2CXL::detect(RangeFinder::RangeFinder_State &_state,
+                                                             AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev)
 {
     AP_RangeFinder_MaxsonarI2CXL *sensor
-        = new AP_RangeFinder_MaxsonarI2CXL(_state);
+        = new AP_RangeFinder_MaxsonarI2CXL(_state, std::move(dev));
     if (!sensor) {
         return nullptr;
     }
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.h b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.h
index 35250c6c5e..dc34d0bd27 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_MaxsonarI2CXL.h
@@ -17,7 +17,8 @@ class AP_RangeFinder_MaxsonarI2CXL : public AP_RangeFinder_Backend
 {
 public:
     // static detection function
-    static AP_RangeFinder_Backend *detect(RangeFinder::RangeFinder_State &_state);
+    static AP_RangeFinder_Backend *detect(RangeFinder::RangeFinder_State &_state,
+                                          AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
 
     // update state
     void update(void);
@@ -30,7 +31,8 @@ protected:
 
 private:
     // constructor
-    AP_RangeFinder_MaxsonarI2CXL(RangeFinder::RangeFinder_State &_state);
+    AP_RangeFinder_MaxsonarI2CXL(RangeFinder::RangeFinder_State &_state,
+                                 AP_HAL::OwnPtr<AP_HAL::I2CDevice> dev);
 
     bool _init(void);
     void _timer(void);
diff --git a/libraries/AP_RangeFinder/RangeFinder.cpp b/libraries/AP_RangeFinder/RangeFinder.cpp
index 35199f246d..e274e5cb07 100644
--- a/libraries/AP_RangeFinder/RangeFinder.cpp
+++ b/libraries/AP_RangeFinder/RangeFinder.cpp
@@ -614,7 +614,11 @@ void RangeFinder::detect_instance(uint8_t instance)
         }
         break;
     case RangeFinder_TYPE_MBI2C:
-        _add_backend(AP_RangeFinder_MaxsonarI2CXL::detect(state[instance]));
+        if (!_add_backend(AP_RangeFinder_MaxsonarI2CXL::detect(state[instance],
+                                                hal.i2c_mgr->get_device(1, AP_RANGE_FINDER_MAXSONARI2CXL_DEFAULT_ADDR)))) {
+            _add_backend(AP_RangeFinder_MaxsonarI2CXL::detect(state[instance],
+                                               hal.i2c_mgr->get_device(0, AP_RANGE_FINDER_MAXSONARI2CXL_DEFAULT_ADDR)));
+        }
         break;
     case RangeFinder_TYPE_LWI2C:
         if (state[instance].address) {