diff --git a/libraries/AP_Proximity/AP_Proximity.h b/libraries/AP_Proximity/AP_Proximity.h
index 4c50823227..1555ef6771 100644
--- a/libraries/AP_Proximity/AP_Proximity.h
+++ b/libraries/AP_Proximity/AP_Proximity.h
@@ -18,7 +18,7 @@
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Param/AP_Param.h>
 #include <AP_Math/AP_Math.h>
-#include <AP_RangeFinder/AP_RangeFinder.h>
+#include <GCS_MAVLink/GCS_MAVLink.h>
 
 #define PROXIMITY_MAX_INSTANCES             1   // Maximum number of proximity sensor instances available on this platform
 #define PROXIMITY_MAX_IGNORE                6   // up to six areas can be ignored
@@ -71,10 +71,6 @@ public:
     // update state of all proximity sensors. Should be called at high rate from main loop
     void update(void);
 
-    // set pointer to rangefinder object
-    void set_rangefinder(const class RangeFinder *rangefinder) { _rangefinder = rangefinder; }
-    const RangeFinder *get_rangefinder() const { return _rangefinder; }
-
     // return sensor orientation and yaw correction
     uint8_t get_orientation(uint8_t instance) const;
     int16_t get_yaw_correction(uint8_t instance) const;
@@ -147,7 +143,6 @@ private:
     static AP_Proximity *_singleton;
     Proximity_State state[PROXIMITY_MAX_INSTANCES];
     AP_Proximity_Backend *drivers[PROXIMITY_MAX_INSTANCES];
-    const RangeFinder *_rangefinder;
     uint8_t primary_instance;
     uint8_t num_instances;
 
diff --git a/libraries/AP_Proximity/AP_Proximity_RangeFinder.cpp b/libraries/AP_Proximity/AP_Proximity_RangeFinder.cpp
index 9d281d4f3d..229c974eb1 100644
--- a/libraries/AP_Proximity/AP_Proximity_RangeFinder.cpp
+++ b/libraries/AP_Proximity/AP_Proximity_RangeFinder.cpp
@@ -15,9 +15,9 @@
 
 #include <AP_HAL/AP_HAL.h>
 #include "AP_Proximity_RangeFinder.h"
-#include <AP_SerialManager/AP_SerialManager.h>
 #include <ctype.h>
 #include <stdio.h>
+#include <AP_RangeFinder/AP_RangeFinder.h>
 #include <AP_RangeFinder/RangeFinder_Backend.h>
 
 extern const AP_HAL::HAL& hal;
@@ -33,7 +33,7 @@ AP_Proximity_RangeFinder::AP_Proximity_RangeFinder(AP_Proximity &_frontend,
 void AP_Proximity_RangeFinder::update(void)
 {
     // exit immediately if no rangefinder object
-    const RangeFinder *rngfnd = frontend.get_rangefinder();
+    const RangeFinder *rngfnd = AP::rangefinder();
     if (rngfnd == nullptr) {
         set_status(AP_Proximity::Status::NoData);
         return;