diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.cpp
index 372bab31de..dca89c814d 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.cpp
@@ -34,22 +34,13 @@ extern const AP_HAL::HAL& hal;
 
 volatile struct range *rangerpru;
 
-/*
-   The constructor also initialises the rangefinder. Note that this
-   constructor is not called until detect() returns true, so we
-   already know that we should setup the rangefinder
-*/
-AP_RangeFinder_BBB_PRU::AP_RangeFinder_BBB_PRU(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
-    AP_RangeFinder_Backend(_state, _params)
-{
-}
-
 /*
    Stop PRU, load firmware (check if firmware is present), start PRU.
    If we get a result the sensor seems to be there.
 */
 bool AP_RangeFinder_BBB_PRU::detect()
 {
+    //The constructor is called when the detect() method returns true, more on this in the header file
     bool result = true;
     uint32_t mem_fd;
     uint32_t *ctrl;
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.h b/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.h
index bf60c4d4b6..0335928d02 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_BBB_PRU.h
@@ -20,8 +20,13 @@ struct range {
 class AP_RangeFinder_BBB_PRU : public AP_RangeFinder_Backend
 {
 public:
-    // constructor
-    AP_RangeFinder_BBB_PRU(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
+    /*
+        Constructor:
+        The constructor also initialises the rangefinder. Note that this
+        constructor is not called until detect() returns true, so we
+        already know that we should setup the rangefinder
+    */
+    using AP_RangeFinder_Backend::AP_RangeFinder_Backend;
 
     // static detection function
     static bool detect();
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.cpp
index 41a396374e..252e672058 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.cpp
@@ -16,13 +16,6 @@ extern const AP_HAL::HAL& hal;
 //UAVCAN Frontend Registry Binder
 UC_REGISTRY_BINDER(MeasurementCb, uavcan::equipment::range_sensor::Measurement);
 
-/*
-  constructor - registers instance at top RangeFinder driver
- */
-AP_RangeFinder_UAVCAN::AP_RangeFinder_UAVCAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params) :
-    AP_RangeFinder_Backend(_state, _params)
-{}
-
 //links the rangefinder uavcan message to this backend
 void AP_RangeFinder_UAVCAN::subscribe_msgs(AP_UAVCAN* ap_uavcan)
 {
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.h b/libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.h
index ec200b3962..2f48c260c8 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_UAVCAN.h
@@ -9,7 +9,8 @@ class MeasurementCb;
 
 class AP_RangeFinder_UAVCAN : public AP_RangeFinder_Backend {
 public:
-    AP_RangeFinder_UAVCAN(RangeFinder::RangeFinder_State &_state, AP_RangeFinder_Params &_params);
+    //constructor - registers instance at top RangeFinder driver
+    using AP_RangeFinder_Backend::AP_RangeFinder_Backend;
 
     void update() override;