diff --git a/src/modules/navigator/navigator.h b/src/modules/navigator/navigator.h
index 6facdd9081..b154d21769 100644
--- a/src/modules/navigator/navigator.h
+++ b/src/modules/navigator/navigator.h
@@ -217,6 +217,11 @@ private:
 
 	bool		_inside_fence;			/**< vehicle is inside fence */
 
+	bool		_can_loiter_at_sp;			/**< flags if current position SP can be used to loiter */
+	bool		_pos_sp_triplet_updated;		/**< flags if position SP triplet needs to be published */
+	bool 		_pos_sp_triplet_published_invalid_once;	/**< flags if position SP triplet has been published once to UORB */
+	bool		_mission_result_updated;		/**< flags if mission result has seen an update */
+
 	NavigatorMode	*_navigation_mode;		/**< abstract pointer to current navigation mode class */
 	Mission		_mission;			/**< class that handles the missions */
 	Loiter		_loiter;			/**< class that handles loiter */
@@ -231,11 +236,6 @@ private:
 
 	NavigatorMode *_navigation_mode_array[NAVIGATOR_MODE_ARRAY_SIZE];	/**< array of navigation modes */
 
-	bool		_can_loiter_at_sp;			/**< flags if current position SP can be used to loiter */
-	bool		_pos_sp_triplet_updated;		/**< flags if position SP triplet needs to be published */
-	bool 		_pos_sp_triplet_published_invalid_once;	/**< flags if position SP triplet has been published once to UORB */
-	bool		_mission_result_updated;		/**< flags if mission result has seen an update */
-
 	control::BlockParamFloat _param_loiter_radius;	/**< loiter radius for fixedwing */
 	control::BlockParamFloat _param_acceptance_radius;	/**< acceptance for takeoff */
 	control::BlockParamInt _param_datalinkloss_obc;	/**< if true: obc mode on data link loss enabled */
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index 0227a2ed07..cd6021a971 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -134,6 +134,10 @@ Navigator::Navigator() :
 	_geofence{},
 	_geofence_violation_warning_sent(false),
 	_inside_fence(true),
+	_can_loiter_at_sp(false),
+	_pos_sp_triplet_updated(false),
+	_pos_sp_triplet_published_invalid_once(false),
+	_mission_result_updated(false),
 	_navigation_mode(nullptr),
 	_mission(this, "MIS"),
 	_loiter(this, "LOI"),
@@ -143,10 +147,6 @@ Navigator::Navigator() :
 	_dataLinkLoss(this, "DLL"),
 	_engineFailure(this, "EF"),
 	_gpsFailure(this, "GPSF"),
-	_can_loiter_at_sp(false),
-	_pos_sp_triplet_updated(false),
-	_pos_sp_triplet_published_invalid_once(false),
-	_mission_result_updated(false),
 	_param_loiter_radius(this, "LOITER_RAD"),
 	_param_acceptance_radius(this, "ACC_RAD"),
 	_param_datalinkloss_obc(this, "DLL_OBC"),
@@ -694,7 +694,7 @@ void
 Navigator::publish_mission_result()
 {
 	_mission_result.instance_count = _mission_instance_count;
-	
+
 	/* lazily publish the mission result only once available */
 	if (_mission_result_pub != nullptr) {
 		/* publish mission result */
diff --git a/src/modules/uORB/uORBManager_posix.cpp b/src/modules/uORB/uORBManager_posix.cpp
index 7fe3f6a687..3a01038b4a 100644
--- a/src/modules/uORB/uORBManager_posix.cpp
+++ b/src/modules/uORB/uORBManager_posix.cpp
@@ -164,6 +164,8 @@ int uORB::Manager::orb_copy(const struct orb_metadata *meta, int handle, void *b
 
 int uORB::Manager::orb_check(int handle, bool *updated)
 {
+	/* Set to false here so that if `px4_ioctl` fails to false. */
+	*updated = false;
 	return px4_ioctl(handle, ORBIOCUPDATED, (unsigned long)(uintptr_t)updated);
 }
 
diff --git a/src/platforms/posix/drivers/barosim/baro.cpp b/src/platforms/posix/drivers/barosim/baro.cpp
index 0bbb2c1c0d..ac5d31b6b9 100644
--- a/src/platforms/posix/drivers/barosim/baro.cpp
+++ b/src/platforms/posix/drivers/barosim/baro.cpp
@@ -202,6 +202,8 @@ BAROSIM::BAROSIM(const char *path) :
 	_TEMP(0),
 	_OFF(0),
 	_SENS(0),
+	_P(0.0),
+	_T(0.0),
 	_msl_pressure(101325),
 	_baro_topic(nullptr),
 	_orb_class_instance(-1),