diff --git a/wpilibc/src/main/native/cpp/Ultrasonic.cpp b/wpilibc/src/main/native/cpp/Ultrasonic.cpp
index 6e9704ea09..2f9d6f873b 100644
--- a/wpilibc/src/main/native/cpp/Ultrasonic.cpp
+++ b/wpilibc/src/main/native/cpp/Ultrasonic.cpp
@@ -137,23 +137,17 @@ void Ultrasonic::SetAutomaticMode(bool enabling) {
   }
 }
 
-double Ultrasonic::GetRangeInches() const {
+units::meter_t Ultrasonic::GetRange() const {
   if (IsRangeValid()) {
     if (m_simRange) {
-      return m_simRange.Get();
+      return units::meter_t{m_simRange.Get()};
     }
-    return units::inch_t{m_counter.GetPeriod() * kSpeedOfSound / 2.0}
-        .to<double>();
+    return m_counter.GetPeriod() * kSpeedOfSound / 2.0;
   } else {
-    return 0;
+    return 0_m;
   }
 }
 
-double Ultrasonic::GetRangeMM() const {
-  return units::millimeter_t{m_counter.GetPeriod() * kSpeedOfSound / 2.0}
-      .to<double>();
-}
-
 bool Ultrasonic::IsEnabled() const {
   return m_enabled;
 }
@@ -165,7 +159,7 @@ void Ultrasonic::SetEnabled(bool enable) {
 void Ultrasonic::InitSendable(SendableBuilder& builder) {
   builder.SetSmartDashboardType("Ultrasonic");
   builder.AddDoubleProperty(
-      "Value", [=]() { return GetRangeInches(); }, nullptr);
+      "Value", [=] { return units::inch_t{GetRange()}.to<double>(); }, nullptr);
 }
 
 void Ultrasonic::Initialize() {
diff --git a/wpilibc/src/main/native/include/frc/Ultrasonic.h b/wpilibc/src/main/native/include/frc/Ultrasonic.h
index 88c5b811d1..25624bf850 100644
--- a/wpilibc/src/main/native/include/frc/Ultrasonic.h
+++ b/wpilibc/src/main/native/include/frc/Ultrasonic.h
@@ -10,6 +10,7 @@
 #include <vector>
 
 #include <hal/SimDevice.h>
+#include <units/length.h>
 #include <units/time.h>
 #include <units/velocity.h>
 
@@ -123,22 +124,13 @@ class Ultrasonic : public Sendable, public SendableHelper<Ultrasonic> {
   static void SetAutomaticMode(bool enabling);
 
   /**
-   * Get the range in inches from the ultrasonic sensor.
+   * Get the range from the ultrasonic sensor.
    *
-   * @return Range in inches of the target returned from the ultrasonic sensor.
-   *         If there is no valid value yet, i.e. at least one measurement
-   *         hasn't completed, then return 0.
+   * @return Range of the target returned from the ultrasonic sensor. If there
+   *         is no valid value yet, i.e. at least one measurement hasn't
+   *         completed, then return 0.
    */
-  double GetRangeInches() const;
-
-  /**
-   * Get the range in millimeters from the ultrasonic sensor.
-   *
-   * @return Range in millimeters of the target returned by the ultrasonic
-   *         sensor. If there is no valid value yet, i.e. at least one
-   *         measurement hasn't completed, then return 0.
-   */
-  double GetRangeMM() const;
+  units::meter_t GetRange() const;
 
   bool IsEnabled() const;