diff --git a/libraries/AP_Baro/AP_Baro_MS5611.cpp b/libraries/AP_Baro/AP_Baro_MS5611.cpp
index f740c52f1a..b020ef835c 100644
--- a/libraries/AP_Baro/AP_Baro_MS5611.cpp
+++ b/libraries/AP_Baro/AP_Baro_MS5611.cpp
@@ -183,6 +183,10 @@ AP_Baro_MS56XX::AP_Baro_MS56XX(AP_Baro &baro, AP_SerialBus *serial, bool use_tim
     _use_timer(use_timer),
     _D1(0.0f),
     _D2(0.0f)
+{
+}
+
+void AP_Baro_MS56XX::_init()
 {
     _instance = _frontend.register_sensor();
     _serial->init();
@@ -385,8 +389,10 @@ void AP_Baro_MS56XX::update()
 
 /* MS5611 class */
 AP_Baro_MS5611::AP_Baro_MS5611(AP_Baro &baro, AP_SerialBus *serial, bool use_timer)
-    :AP_Baro_MS56XX(baro, serial, use_timer)
-{}
+    : AP_Baro_MS56XX(baro, serial, use_timer)
+{
+    _init();
+}
 
 // Calculate Temperature and compensated Pressure in real units (Celsius degrees*100, mbar*100).
 void AP_Baro_MS5611::_calculate()
@@ -425,8 +431,11 @@ void AP_Baro_MS5611::_calculate()
 
 /* MS5607 Class */
 AP_Baro_MS5607::AP_Baro_MS5607(AP_Baro &baro, AP_SerialBus *serial, bool use_timer)
-    :AP_Baro_MS56XX(baro, serial, use_timer)
-{}
+    : AP_Baro_MS56XX(baro, serial, use_timer)
+{
+    _init();
+}
+
 // Calculate Temperature and compensated Pressure in real units (Celsius degrees*100, mbar*100).
 void AP_Baro_MS5607::_calculate()
 {
@@ -466,6 +475,7 @@ void AP_Baro_MS5607::_calculate()
 AP_Baro_MS5637::AP_Baro_MS5637(AP_Baro &baro, AP_SerialBus *serial, bool use_timer)
     : AP_Baro_MS56XX(baro, serial, use_timer)
 {
+    _init();
 }
 
 // Calculate Temperature and compensated Pressure in real units (Celsius degrees*100, mbar*100).
diff --git a/libraries/AP_Baro/AP_Baro_MS5611.h b/libraries/AP_Baro/AP_Baro_MS5611.h
index 9f11d80785..7bd1a7cc47 100644
--- a/libraries/AP_Baro/AP_Baro_MS5611.h
+++ b/libraries/AP_Baro/AP_Baro_MS5611.h
@@ -75,12 +75,12 @@ private:
 class AP_Baro_MS56XX : public AP_Baro_Backend
 {
 public:
-    AP_Baro_MS56XX(AP_Baro &baro, AP_SerialBus *serial, bool use_timer);
     void update();
     void accumulate();
 
 private:
     virtual void _calculate() = 0;
+
     AP_SerialBus *_serial;
 
     bool _check_crc();
@@ -98,6 +98,9 @@ private:
     bool _use_timer;
 
 protected:
+    AP_Baro_MS56XX(AP_Baro &baro, AP_SerialBus *serial, bool use_timer);
+    void _init();
+
     // Internal calibration registers
     uint16_t                 _C1,_C2,_C3,_C4,_C5,_C6;
     float                    _D1,_D2;