diff --git a/AirLib/include/vehicles/multirotor/controllers/MavLinkDroneController.hpp b/AirLib/include/vehicles/multirotor/controllers/MavLinkDroneController.hpp
index f0841104df..8cd4b3968d 100644
--- a/AirLib/include/vehicles/multirotor/controllers/MavLinkDroneController.hpp
+++ b/AirLib/include/vehicles/multirotor/controllers/MavLinkDroneController.hpp
@@ -787,16 +787,20 @@ struct MavLinkDroneController::impl {
             mag_output.magnetic_field_body,
             baro_output.pressure * 0.01f /*Pa to Milibar */, baro_output.altitude);
 
-        const auto& distance_output = getDistance()->getOutput();
-        float pitch, roll, yaw;
-        VectorMath::toEulerianAngle(distance_output.relative_pose.orientation, pitch, roll, yaw);
-
-        sendDistanceSensor(distance_output.min_distance / 100, //m -> cm
-            distance_output.max_distance / 100, //m -> cm
-            distance_output.distance,
-            0, //sensor type: //TODO: allow changing in settings?
-            77, //sensor id, //TODO: should this be something real?
-            pitch); //TODO: convert from radians to degrees?
+
+        const auto * distance = getDistance();
+        if (distance) {
+          const auto& distance_output = distance->getOutput();
+          float pitch, roll, yaw;
+          VectorMath::toEulerianAngle(distance_output.relative_pose.orientation, pitch, roll, yaw);
+
+          sendDistanceSensor(distance_output.min_distance / 100, //m -> cm
+                             distance_output.max_distance / 100, //m -> cm
+                             distance_output.distance,
+                             0, //sensor type: //TODO: allow changing in settings?
+                             77, //sensor id, //TODO: should this be something real?
+                             pitch); //TODO: convert from radians to degrees?
+        }
 
         const auto gps = getGps();
         if (gps != nullptr) {
diff --git a/AirLibUnitTests/PixhawkTest.hpp b/AirLibUnitTests/PixhawkTest.hpp
index 0cf4df5cba..d8c039af30 100644
--- a/AirLibUnitTests/PixhawkTest.hpp
+++ b/AirLibUnitTests/PixhawkTest.hpp
@@ -11,10 +11,8 @@ class PixhawkTest : public TestBase {
 public:
     virtual void run() override
     {
-        SensorFactory sensor_factory;
-
         //Test PX4 based drones
-        auto pixhawk = MultiRotorParamsFactory::createConfig("Pixhawk", &sensor_factory);	
+        auto pixhawk = MultiRotorParamsFactory::createConfig("Pixhawk", std::make_shared<SensorFactory>());	
         
         DroneControllerBase* controller = pixhawk->getController();
         testAssert(controller != nullptr, "Couldn't get pixhawk controller");
diff --git a/AirLibUnitTests/RosFlightTest.hpp b/AirLibUnitTests/RosFlightTest.hpp
index f8c512d734..9864e3112d 100644
--- a/AirLibUnitTests/RosFlightTest.hpp
+++ b/AirLibUnitTests/RosFlightTest.hpp
@@ -12,8 +12,7 @@ class RosFlightTest : public TestBase {
 public:
     virtual void run() override
     {
-        SensorFactory sensor_factory;
-        auto rosFlight = MultiRotorParamsFactory::createConfig("RosFlight", &sensor_factory);
+        auto rosFlight = MultiRotorParamsFactory::createConfig("RosFlight", std::make_shared<SensorFactory>());
         
         DroneControllerBase* controller = rosFlight->getController();
         testAssert(controller != nullptr, "Couldn't get controller");
diff --git a/AirLibUnitTests/SimpleFlightTest.hpp b/AirLibUnitTests/SimpleFlightTest.hpp
index df6784dc5f..0ce98babd0 100644
--- a/AirLibUnitTests/SimpleFlightTest.hpp
+++ b/AirLibUnitTests/SimpleFlightTest.hpp
@@ -22,7 +22,7 @@ class SimpleFlightTest : public TestBase
 
         SensorFactory sensor_factory;
 
-        std::unique_ptr<MultiRotorParams> params = MultiRotorParamsFactory::createConfig("SimpleFlight", &sensor_factory);
+        std::unique_ptr<MultiRotorParams> params = MultiRotorParamsFactory::createConfig("SimpleFlight", std::make_shared<SensorFactory>());
         MultiRotor vehicle;
         std::unique_ptr<Environment> environment;
         vehicle.initialize(params.get(), Pose(),