diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index 24226880ed..9cb8e83445 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -262,8 +262,10 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
 {
 	memset(&_v_att, 0, sizeof(_v_att));
 	memset(&_v_att_sp, 0, sizeof(_v_att_sp));
+	memset(&_v_rates_sp, 0, sizeof(_v_rates_sp));
 	memset(&_manual_control_sp, 0, sizeof(_manual_control_sp));
 	memset(&_v_control_mode, 0, sizeof(_v_control_mode));
+	memset(&_actuators, 0, sizeof(_actuators));
 	memset(&_armed, 0, sizeof(_armed));
 
 	_params.att_p.zero();
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp
index dfa98d425c..6a44294619 100644
--- a/src/modules/px4iofirmware/mixer.cpp
+++ b/src/modules/px4iofirmware/mixer.cpp
@@ -327,7 +327,7 @@ mixer_handle_text(const void *buffer, size_t length)
 		return 1;
 	}
 
-	px4io_mixdata	*msg = static_cast<px4io_mixdata *>(buffer);
+	px4io_mixdata	*msg = (px4io_mixdata *)buffer;
 
 	isr_debug(2, "mix txt %u", length);