diff --git a/src/lib/collision_prevention/CollisionPrevention.cpp b/src/lib/collision_prevention/CollisionPrevention.cpp
index 4f6ff22974..dd0049f5e9 100644
--- a/src/lib/collision_prevention/CollisionPrevention.cpp
+++ b/src/lib/collision_prevention/CollisionPrevention.cpp
@@ -51,18 +51,14 @@ CollisionPrevention::CollisionPrevention(ModuleParams *parent) :
 		      >= BIN_COUNT, "BIN_COUNT must not overflow obstacle_distance.distances");
 
 	// initialize internal obstacle map
-	_obstacle_map_body_frame.timestamp = getTime();
 	_obstacle_map_body_frame.frame = obstacle_distance_s::MAV_FRAME_BODY_FRD;
 	_obstacle_map_body_frame.increment = BIN_SIZE;
 	_obstacle_map_body_frame.min_distance = UINT16_MAX;
-	_obstacle_map_body_frame.max_distance = 0;
-	_obstacle_map_body_frame.angle_offset = 0.f;
-	const uint64_t current_time = getTime();
+
+	static constexpr int BIN_COUNT_EXTERNAL =
+		sizeof(_obstacle_map_body_frame.distances) / sizeof(_obstacle_map_body_frame.distances[0]);
 
 	for (uint32_t i = 0 ; i < BIN_COUNT_EXTERNAL; i++) {
-		_data_timestamps[i] = current_time;
-		_data_maxranges[i] = 0;
-		_data_fov[i] = 0;
 		_obstacle_map_body_frame.distances[i] = UINT16_MAX;
 	}
 }
diff --git a/src/lib/collision_prevention/CollisionPrevention.hpp b/src/lib/collision_prevention/CollisionPrevention.hpp
index bf30c7a455..547c63c3aa 100644
--- a/src/lib/collision_prevention/CollisionPrevention.hpp
+++ b/src/lib/collision_prevention/CollisionPrevention.hpp
@@ -85,12 +85,9 @@ protected:
 	static constexpr int BIN_SIZE = 360 / BIN_COUNT; // cannot be lower than 5 degrees, should divide 360 evenly
 
 	obstacle_distance_s _obstacle_map_body_frame{};
-	static constexpr int BIN_COUNT_EXTERNAL =
-		sizeof(_obstacle_map_body_frame.distances) / sizeof(_obstacle_map_body_frame.distances[0]);
-
-	bool _data_fov[BIN_COUNT_EXTERNAL];
-	uint64_t _data_timestamps[BIN_COUNT_EXTERNAL];
-	uint16_t _data_maxranges[BIN_COUNT_EXTERNAL]; /**< in cm */
+	bool _data_fov[BIN_COUNT] {};
+	uint64_t _data_timestamps[BIN_COUNT] {};
+	uint16_t _data_maxranges[BIN_COUNT] {}; /**< in cm */
 
 	void _addDistanceSensorData(distance_sensor_s &distance_sensor, const matrix::Quatf &vehicle_attitude);