diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_TS.cpp b/libraries/AC_AttitudeControl/AC_AttitudeControl_TS.cpp
index 9e74e0e0da..3596d18b5d 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_TS.cpp
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_TS.cpp
@@ -19,12 +19,6 @@
  */
 #include "AC_AttitudeControl_TS.h"
 
-
-AC_AttitudeControl_TS::AC_AttitudeControl_TS(AP_AHRS_View &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_MotorsMulticopter& motors, float dt) :
-    AC_AttitudeControl_Multi(ahrs, aparm, motors, dt)
-{
-}
-
 void AC_AttitudeControl_TS::relax_attitude_controllers(bool exclude_pitch)
 {
     // If exclude_pitch: relax roll and yaw rate controller outputs only,
diff --git a/libraries/AC_AttitudeControl/AC_AttitudeControl_TS.h b/libraries/AC_AttitudeControl/AC_AttitudeControl_TS.h
index f300131e6d..b0d7c0720c 100644
--- a/libraries/AC_AttitudeControl/AC_AttitudeControl_TS.h
+++ b/libraries/AC_AttitudeControl/AC_AttitudeControl_TS.h
@@ -5,11 +5,10 @@
 
 #include "AC_AttitudeControl_Multi.h"
 
-
 class AC_AttitudeControl_TS : public AC_AttitudeControl_Multi
 {
 public:
-    AC_AttitudeControl_TS(AP_AHRS_View &ahrs, const AP_Vehicle::MultiCopter &aparm, AP_MotorsMulticopter& motors, float dt);
+    using AC_AttitudeControl_Multi::AC_AttitudeControl_Multi;
 
     // empty destructor to suppress compiler warning
     virtual ~AC_AttitudeControl_TS() {}
diff --git a/libraries/AC_AttitudeControl/AC_PosControl_Sub.cpp b/libraries/AC_AttitudeControl/AC_PosControl_Sub.cpp
index bdae565b2e..fcca412188 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl_Sub.cpp
+++ b/libraries/AC_AttitudeControl/AC_PosControl_Sub.cpp
@@ -1,12 +1,5 @@
 #include "AC_PosControl_Sub.h"
 
-AC_PosControl_Sub::AC_PosControl_Sub(AP_AHRS_View& ahrs, const AP_InertialNav& inav,
-                                     const AP_Motors& motors, AC_AttitudeControl& attitude_control, float dt) :
-    AC_PosControl(ahrs, inav, motors, attitude_control, dt),
-    _alt_max(0.0f),
-    _alt_min(0.0f)
-{}
-
 /// input_accel_z - calculate a jerk limited path from the current position, velocity and acceleration to an input acceleration.
 ///     The function takes the current position, velocity, and acceleration and calculates the required jerk limited adjustment to the acceleration for the next time dt.
 ///     The kinematic path is constrained by the maximum acceleration and jerk set using the function set_max_speed_accel_z.
diff --git a/libraries/AC_AttitudeControl/AC_PosControl_Sub.h b/libraries/AC_AttitudeControl/AC_PosControl_Sub.h
index 5f36c0f6ee..3d9c4f5f59 100644
--- a/libraries/AC_AttitudeControl/AC_PosControl_Sub.h
+++ b/libraries/AC_AttitudeControl/AC_PosControl_Sub.h
@@ -6,8 +6,7 @@
 
 class AC_PosControl_Sub : public AC_PosControl {
 public:
-    AC_PosControl_Sub(AP_AHRS_View & ahrs, const AP_InertialNav& inav,
-                      const AP_Motors& motors, AC_AttitudeControl& attitude_control, float dt);
+    using AC_PosControl::AC_PosControl;
 
     /// set_alt_max - sets maximum altitude above the ekf origin in cm
     ///   only enforced when set_pos_target_z_from_climb_rate_cm is used