diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
index 39a6ca1427..0cf3fafb56 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.cpp
@@ -13,40 +13,13 @@
    along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
+#include "AP_RangeFinder_LeddarOne.h"
+
 #include <AP_HAL/AP_HAL.h>
 #include <AP_Math/crc.h>
-#include "AP_RangeFinder_LeddarOne.h"
-#include <AP_SerialManager/AP_SerialManager.h>
 
 extern const AP_HAL::HAL& hal;
 
-/*
-   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_LeddarOne::AP_RangeFinder_LeddarOne(RangeFinder::RangeFinder_State &_state,
-                                                   AP_RangeFinder_Params &_params,
-                                                   uint8_t serial_instance) :
-    AP_RangeFinder_Backend(_state, _params)
-{
-    const AP_SerialManager &serial_manager = AP::serialmanager();
-    uart = serial_manager.find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance);
-    if (uart != nullptr) {
-        uart->begin(serial_manager.find_baudrate(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance));
-    }
-}
-
-/*
-   detect if a LeddarOne rangefinder is connected. We'll detect by
-   trying to take a reading on Serial. If we get a result the sensor is
-   there.
-*/
-bool AP_RangeFinder_LeddarOne::detect(uint8_t serial_instance)
-{
-    return AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_Rangefinder, serial_instance) != nullptr;
-}
-
 // read - return last value measured by sensor
 bool AP_RangeFinder_LeddarOne::get_reading(uint16_t &reading_cm)
 {
diff --git a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h
index 3acfd8777e..9a488bf51f 100644
--- a/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h
+++ b/libraries/AP_RangeFinder/AP_RangeFinder_LeddarOne.h
@@ -1,7 +1,7 @@
 #pragma once
 
 #include "RangeFinder.h"
-#include "RangeFinder_Backend.h"
+#include "RangeFinder_Backend_Serial.h"
 
 // defines
 #define LEDDARONE_DEFAULT_ADDRESS 0x01
@@ -37,17 +37,12 @@ enum LeddarOne_ModbusStatus {
     LEDDARONE_MODBUS_STATE_AVAILABLE
 };
 
-class AP_RangeFinder_LeddarOne : public AP_RangeFinder_Backend
+class AP_RangeFinder_LeddarOne : public AP_RangeFinder_Backend_Serial
 {
 
 public:
-    // constructor
-    AP_RangeFinder_LeddarOne(RangeFinder::RangeFinder_State &_state,
-                             AP_RangeFinder_Params &_params,
-                             uint8_t serial_instance);
 
-    // static detection function
-    static bool detect(uint8_t serial_instance);
+    using AP_RangeFinder_Backend_Serial::AP_RangeFinder_Backend_Serial;
 
     // update state
     void update(void) override;
@@ -68,7 +63,6 @@ private:
     // parse a response message from ModBus
     LeddarOne_Status parse_response(uint8_t &number_detections);
 
-    AP_HAL::UARTDriver *uart = nullptr;
     uint32_t last_sending_request_ms;
     uint32_t last_available_ms;