diff --git a/Tools/clang_tidy_fix_uninitialized.py b/Tools/clang_tidy_fix_uninitialized.py
new file mode 100755
index 0000000000..b490037d23
--- /dev/null
+++ b/Tools/clang_tidy_fix_uninitialized.py
@@ -0,0 +1,179 @@
+#!/usr/bin/env python3
+"""
+Fix uninitialized member variables using clang-tidy.
+Only modifies files within the specified directory.
+
+Usage: ./Tools/clang_tidy_fix_uninitialized.py <path>
+Example: ./Tools/clang_tidy_fix_uninitialized.py src/modules/fw_att_control
+"""
+
+import argparse
+import json
+import os
+import shutil
+import subprocess
+import sys
+from pathlib import Path
+
+
+def check_dependencies():
+    """Check that required tools are installed. Returns True if all deps are met."""
+    missing = []
+
+    # Check for clang-tidy
+    if not shutil.which("clang-tidy"):
+        missing.append(("clang-tidy", "sudo apt install clang-tidy"))
+
+    # Check for clang-apply-replacements (needed for -fix)
+    if not shutil.which("clang-apply-replacements"):
+        # Check for versioned binary
+        versioned = None
+        for v in range(20, 10, -1):
+            if shutil.which(f"clang-apply-replacements-{v}"):
+                versioned = f"clang-apply-replacements-{v}"
+                break
+
+        if versioned:
+            missing.append((
+                "clang-apply-replacements",
+                f"sudo ln -s /usr/bin/{versioned} /usr/bin/clang-apply-replacements"
+            ))
+        else:
+            missing.append((
+                "clang-apply-replacements",
+                "sudo apt install clang-tools"
+            ))
+
+    # Check for clang/clang++ (needed to build with compile_commands.json)
+    if not shutil.which("clang") or not shutil.which("clang++"):
+        missing.append(("clang", "sudo apt install clang"))
+
+    if missing:
+        print("Error: Missing required dependencies:\n")
+        for tool, install_cmd in missing:
+            print(f"  {tool}")
+            print(f"    Install with: {install_cmd}\n")
+        return False
+
+    return True
+
+
+def main():
+    parser = argparse.ArgumentParser(
+        description="Fix uninitialized member variables using clang-tidy"
+    )
+    parser.add_argument(
+        "path",
+        help="Directory to fix (e.g., src/modules/fw_att_control)"
+    )
+    parser.add_argument(
+        "--build-dir",
+        help="Build directory containing compile_commands.json",
+        default=None
+    )
+    parser.add_argument(
+        "--dry-run",
+        action="store_true",
+        help="Show what would be fixed without making changes"
+    )
+    args = parser.parse_args()
+
+    # Check dependencies first
+    if not check_dependencies():
+        return 1
+
+    # Find repo root (where this script lives in Tools/)
+    script_dir = Path(__file__).resolve().parent
+    repo_root = script_dir.parent
+
+    # Determine build directory
+    if args.build_dir:
+        build_dir = Path(args.build_dir)
+    else:
+        build_dir = repo_root / "build" / "px4_sitl_default-clang"
+
+    compile_commands = build_dir / "compile_commands.json"
+    if not compile_commands.exists():
+        print(f"Error: compile_commands.json not found in {build_dir}")
+        print("Run 'make px4_sitl_default-clang' first")
+        return 1
+
+    # Resolve target path
+    target_path = Path(args.path)
+    if not target_path.is_absolute():
+        target_path = repo_root / target_path
+    target_path = target_path.resolve()
+
+    if not target_path.is_dir():
+        print(f"Error: Directory not found: {target_path}")
+        return 1
+
+    # Load compile_commands.json and find matching files
+    with open(compile_commands) as f:
+        db = json.load(f)
+
+    target_str = str(target_path)
+    files_to_check = [
+        entry["file"] for entry in db
+        if entry["file"].startswith(target_str)
+    ]
+
+    if not files_to_check:
+        print(f"No files found in compile_commands.json matching: {target_path}")
+        return 1
+
+    print(f"Found {len(files_to_check)} files to check")
+
+    # Run clang-tidy on each file
+    checks = "-*,cppcoreguidelines-pro-type-member-init,hicpp-member-init"
+    header_filter = f"{target_str}/.*"
+
+    fixed_count = 0
+    error_count = 0
+
+    for filepath in files_to_check:
+        if not os.path.isfile(filepath):
+            continue
+
+        rel_path = os.path.relpath(filepath, repo_root)
+        print(f"  Checking: {rel_path}")
+
+        cmd = [
+            "clang-tidy",
+            f"-checks={checks}",
+            f"-header-filter={header_filter}",
+            f"-p={build_dir}",
+            filepath,
+        ]
+
+        if not args.dry_run:
+            cmd.extend(["-fix", "-fix-errors"])
+
+        result = subprocess.run(
+            cmd,
+            capture_output=True,
+            text=True
+        )
+
+        output = result.stdout + result.stderr
+
+        # Check if any fixes were suggested/applied
+        if "member-init" in output:
+            if args.dry_run:
+                print(output)
+            fixed_count += 1
+
+        if result.returncode != 0 and "error:" in result.stderr and "member-init" not in result.stderr:
+            error_count += 1
+
+    print()
+    if args.dry_run:
+        print(f"Would fix issues in {fixed_count} files")
+    else:
+        print(f"Processed {len(files_to_check)} files, {fixed_count} had fixes applied")
+
+    return 0 if error_count == 0 else 1
+
+
+if __name__ == "__main__":
+    sys.exit(main())