diff --git a/src/lib/external_lgpl/tecs/tecs.h b/src/lib/external_lgpl/tecs/tecs.h
index 4a98c8e974..f8f832ed76 100644
--- a/src/lib/external_lgpl/tecs/tecs.h
+++ b/src/lib/external_lgpl/tecs/tecs.h
@@ -54,7 +54,9 @@ public:
 		_SPE_est(0.0f),
 		_SKE_est(0.0f),
 		_SPEdot(0.0f),
-		_SKEdot(0.0f) {
+		_SKEdot(0.0f),
+		_vel_dot(0.0f),
+		_STEdotErrLast(0.0f) {
 
 	}
 
diff --git a/src/modules/uORB/uORB.cpp b/src/modules/uORB/uORB.cpp
index 7abbf42aed..149b8f6d24 100644
--- a/src/modules/uORB/uORB.cpp
+++ b/src/modules/uORB/uORB.cpp
@@ -249,8 +249,10 @@ ORBDevNode::close(struct file *filp)
 	} else {
 		SubscriberData *sd = filp_to_sd(filp);
 
-		if (sd != nullptr)
+		if (sd != nullptr) {
+			hrt_cancel(&sd->update_call);
 			delete sd;
+		}
 	}
 
 	return CDev::close(filp);