diff --git a/APMrover2/Rover.cpp b/APMrover2/Rover.cpp
index e655f1624e..3c35e091f4 100644
--- a/APMrover2/Rover.cpp
+++ b/APMrover2/Rover.cpp
@@ -29,7 +29,6 @@ Rover::Rover(void) :
     channel_aux(nullptr),
     DataFlash(DataFlash_Class::create(fwver.fw_string, g.log_bitmask)),
     modes(&g.mode1),
-    L1_controller(ahrs, nullptr),
     nav_controller(&L1_controller),
     control_mode(&mode_initializing),
     home(ahrs.get_home()),
diff --git a/APMrover2/Rover.h b/APMrover2/Rover.h
index 5bf182001c..a63bb507b6 100644
--- a/APMrover2/Rover.h
+++ b/APMrover2/Rover.h
@@ -173,7 +173,7 @@ private:
     // Arming/Disarming management class
     AP_Arming_Rover arming = AP_Arming_Rover::create(ahrs, barometer, compass, battery);
 
-    AP_L1_Control L1_controller;
+    AP_L1_Control L1_controller = AP_L1_Control::create(ahrs, nullptr);
 
     // selected navigation controller
     AP_Navigation *nav_controller;