diff --git a/src/drivers/ll40ls/LidarLiteI2C.cpp b/src/drivers/ll40ls/LidarLiteI2C.cpp
index 150465ec5b..9896c0e940 100644
--- a/src/drivers/ll40ls/LidarLiteI2C.cpp
+++ b/src/drivers/ll40ls/LidarLiteI2C.cpp
@@ -126,17 +126,15 @@ int LidarLiteI2C::init()
 
 	_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
 
-	if (_class_instance == CLASS_DEVICE_PRIMARY) {
-		/* get a publish handle on the range finder topic */
-		struct distance_sensor_s ds_report;
-		measure();
-		_reports->get(&ds_report);
-		_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
-					 &_orb_class_instance, ORB_PRIO_LOW);
+	/* get a publish handle on the range finder topic */
+	struct distance_sensor_s ds_report;
+	measure();
+	_reports->get(&ds_report);
+	_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
+				 &_orb_class_instance, ORB_PRIO_LOW);
 
-		if (_distance_sensor_topic == nullptr) {
-			DEVICE_DEBUG("failed to create distance_sensor object. Did you start uOrb?");
-		}
+	if (_distance_sensor_topic == nullptr) {
+		DEVICE_DEBUG("failed to create distance_sensor object. Did you start uOrb?");
 	}
 
 	ret = OK;
diff --git a/src/drivers/ll40ls/LidarLitePWM.cpp b/src/drivers/ll40ls/LidarLitePWM.cpp
index e2a993ad14..9b1986b603 100644
--- a/src/drivers/ll40ls/LidarLitePWM.cpp
+++ b/src/drivers/ll40ls/LidarLitePWM.cpp
@@ -108,19 +108,17 @@ int LidarLitePWM::init()
 
 	_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
 
-	if (_class_instance == CLASS_DEVICE_PRIMARY) {
-		/* get a publish handle on the distance_sensor topic */
-		struct distance_sensor_s ds_report;
-		measure();
-		_reports->get(&ds_report);
-		_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
-					 &_orb_class_instance, ORB_PRIO_LOW);
+	/* get a publish handle on the distance_sensor topic */
+	struct distance_sensor_s ds_report;
+	measure();
+	_reports->get(&ds_report);
+	_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
+				 &_orb_class_instance, ORB_PRIO_LOW);
 
-		if (_distance_sensor_topic == nullptr) {
-			DEVICE_DEBUG("failed to create distance_sensor object. Did you start uOrb?");
-		}
+	if (_distance_sensor_topic == nullptr) {
+		DEVICE_DEBUG("failed to create distance_sensor object. Did you start uOrb?");
 	}
-
+	
 	return OK;
 }
 
diff --git a/src/drivers/mb12xx/mb12xx.cpp b/src/drivers/mb12xx/mb12xx.cpp
index f3cfa0e267..c1e0734466 100644
--- a/src/drivers/mb12xx/mb12xx.cpp
+++ b/src/drivers/mb12xx/mb12xx.cpp
@@ -270,16 +270,14 @@ MB12XX::init()
 
 	_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
 
-	if (_class_instance == CLASS_DEVICE_PRIMARY) {
-		/* get a publish handle on the range finder topic */
-		struct distance_sensor_s ds_report = {};
+	/* get a publish handle on the range finder topic */
+	struct distance_sensor_s ds_report;
 
-		_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
-					 &_orb_class_instance, ORB_PRIO_LOW);
+	_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
+				 &_orb_class_instance, ORB_PRIO_LOW);
 
-		if (_distance_sensor_topic == nullptr) {
-			DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
-		}
+	if (_distance_sensor_topic == nullptr) {
+		DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
 	}
 
 	// XXX we should find out why we need to wait 200 ms here
diff --git a/src/drivers/px4flow/px4flow.cpp b/src/drivers/px4flow/px4flow.cpp
index 92cac76312..869e5509ed 100644
--- a/src/drivers/px4flow/px4flow.cpp
+++ b/src/drivers/px4flow/px4flow.cpp
@@ -241,16 +241,14 @@ PX4FLOW::init()
 
 	_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
 
-	if (_class_instance == CLASS_DEVICE_PRIMARY) {
-		/* get a publish handle on the range finder topic */
-		struct distance_sensor_s ds_report = {};
+	/* get a publish handle on the range finder topic */
+	struct distance_sensor_s ds_report;
 
-		_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
-					 &_orb_class_instance, ORB_PRIO_HIGH);
+	_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
+				 &_orb_class_instance, ORB_PRIO_HIGH);
 
-		if (_distance_sensor_topic == nullptr) {
-			DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
-		}
+	if (_distance_sensor_topic == nullptr) {
+		DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
 	}
 
 	ret = OK;
diff --git a/src/drivers/sf0x/sf0x.cpp b/src/drivers/sf0x/sf0x.cpp
index dbabef34fd..9dd7b1614d 100644
--- a/src/drivers/sf0x/sf0x.cpp
+++ b/src/drivers/sf0x/sf0x.cpp
@@ -296,16 +296,14 @@ SF0X::init()
 
 		_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
 
-		if (_class_instance == CLASS_DEVICE_PRIMARY) {
-			/* get a publish handle on the range finder topic */
-			struct distance_sensor_s ds_report = {};
+		/* get a publish handle on the range finder topic */
+		struct distance_sensor_s ds_report;
 
-			_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
-						 &_orb_class_instance, ORB_PRIO_HIGH);
+		_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
+					 &_orb_class_instance, ORB_PRIO_HIGH);
 
-			if (_distance_sensor_topic == nullptr) {
-				DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
-			}
+		if (_distance_sensor_topic == nullptr) {
+			DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
 		}
 
 	} while (0);
diff --git a/src/drivers/srf02/srf02.cpp b/src/drivers/srf02/srf02.cpp
index 92fda5d41f..8e5c37a88f 100644
--- a/src/drivers/srf02/srf02.cpp
+++ b/src/drivers/srf02/srf02.cpp
@@ -269,16 +269,14 @@ SRF02::init()
 
 	_class_instance = register_class_devname(RANGE_FINDER_BASE_DEVICE_PATH);
 
-	if (_class_instance == CLASS_DEVICE_PRIMARY) {
-		/* get a publish handle on the range finder topic */
-		struct distance_sensor_s ds_report = {};
+	/* get a publish handle on the range finder topic */
+	struct distance_sensor_s ds_report;
 
-		_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
-					 &_orb_class_instance, ORB_PRIO_LOW);
+	_distance_sensor_topic = orb_advertise_multi(ORB_ID(distance_sensor), &ds_report,
+				 &_orb_class_instance, ORB_PRIO_LOW);
 
-		if (_distance_sensor_topic == nullptr) {
-			DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
-		}
+	if (_distance_sensor_topic == nullptr) {
+		DEVICE_LOG("failed to create distance_sensor object. Did you start uOrb?");
 	}
 
 	// XXX we should find out why we need to wait 200 ms here