diff --git a/libraries/AC_PID/AC_HELI_PID.cpp b/libraries/AC_PID/AC_HELI_PID.cpp
index 0e599a160c..9631bc09e9 100644
--- a/libraries/AC_PID/AC_HELI_PID.cpp
+++ b/libraries/AC_PID/AC_HELI_PID.cpp
@@ -102,13 +102,6 @@ const AP_Param::GroupInfo AC_HELI_PID::var_info[] = {
     AP_GROUPEND
 };
 
-/// Constructor for PID
-AC_HELI_PID::AC_HELI_PID(float initial_p, float initial_i, float initial_d, float initial_ff, float initial_imax, float initial_filt_T_hz, float initial_filt_E_hz, float initial_filt_D_hz, float dff_val) :
-    AC_PID(initial_p, initial_i, initial_d, initial_ff, initial_imax, initial_filt_T_hz, initial_filt_E_hz, initial_filt_D_hz, dff_val)
-{
-    _last_requested_rate = 0;
-}
-
 // This is an integrator which tends to decay to zero naturally
 // if the error is zero.
 
diff --git a/libraries/AC_PID/AC_HELI_PID.h b/libraries/AC_PID/AC_HELI_PID.h
index d9f323d34a..7e76f9cade 100644
--- a/libraries/AC_PID/AC_HELI_PID.h
+++ b/libraries/AC_PID/AC_HELI_PID.h
@@ -16,11 +16,15 @@ static const float AC_PID_LEAK_MIN = 0.1f;  // Default I-term Leak Minimum
 class AC_HELI_PID : public AC_PID {
 public:
 
-    /// Constructor for PID
-    AC_HELI_PID(float initial_p, float initial_i, float initial_d, float initial_ff, float initial_imax, float initial_filt_T_hz, float initial_filt_E_hz, float initial_filt_D_hz, float dff_val=0);
-
     CLASS_NO_COPY(AC_HELI_PID);
 
+    /// Constructor for PID
+    AC_HELI_PID(const AC_PID::Defaults &defaults) :
+        AC_PID{defaults}
+    {
+        _last_requested_rate = 0;
+    }
+
     /// update_leaky_i - replacement for get_i but output is leaked at leak_rate
     void       update_leaky_i(float leak_rate);