From 2574e03cb28041bca03a3c0848743882b701589f Mon Sep 17 00:00:00 2001
From: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Date: Wed, 1 Oct 2025 13:24:30 -0800
Subject: [PATCH] uavcan: esc: init msg to avoid publishing random values
 (#25656)

---
 src/drivers/uavcan/actuators/esc.cpp | 6 +-----
 1 file changed, 1 insertion(+), 5 deletions(-)

diff --git a/src/drivers/uavcan/actuators/esc.cpp b/src/drivers/uavcan/actuators/esc.cpp
index 11248e623b..9af20c49cb 100644
--- a/src/drivers/uavcan/actuators/esc.cpp
+++ b/src/drivers/uavcan/actuators/esc.cpp
@@ -84,11 +84,7 @@ UavcanEscController::update_outputs(bool stop_motors, uint16_t outputs[MAX_ACTUA
 
 	_prev_cmd_pub = timestamp;
 
-	/*
-	 * Fill the command message
-	 * If unarmed, we publish an empty message anyway
-	 */
-	uavcan::equipment::esc::RawCommand msg;
+	uavcan::equipment::esc::RawCommand msg = {};
 
 	for (unsigned i = 0; i < num_outputs; i++) {
 		if (stop_motors || outputs[i] == DISARMED_OUTPUT_VALUE) {