diff --git a/src/drivers/camera_trigger/camera_trigger.cpp b/src/drivers/camera_trigger/camera_trigger.cpp
index 276b3d2564..27a43a293e 100644
--- a/src/drivers/camera_trigger/camera_trigger.cpp
+++ b/src/drivers/camera_trigger/camera_trigger.cpp
@@ -484,12 +484,11 @@ void
 CameraTrigger::test()
 {
 	struct vehicle_command_s cmd = {};
-	cmd.timestamp = hrt_absolute_time();
+	cmd.timestamp = hrt_absolute_time(),
+	    cmd.param5 = 1.0f;
 	cmd.command = vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL;
-	cmd.param5 = 1.0;
 
-	orb_advert_t pub;
-	pub = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
+	orb_advert_t pub = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
 	(void)orb_unadvertise(pub);
 }
 
@@ -509,7 +508,7 @@ CameraTrigger::cycle_trampoline(void *arg)
 	bool updated = false;
 	orb_check(trig->_command_sub, &updated);
 
-	struct vehicle_command_s cmd = {};
+	struct vehicle_command_s cmd;
 	unsigned cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
 	bool need_ack = false;
 
@@ -716,10 +715,11 @@ CameraTrigger::cycle_trampoline(void *arg)
 
 	// Command ACK handling
 	if (updated && need_ack) {
-		vehicle_command_ack_s command_ack = {};
-
-		command_ack.command = cmd.command;
-		command_ack.result = cmd_result;
+		vehicle_command_ack_s command_ack = {
+			.timestamp = 0,
+			.command = cmd.command,
+			.result = (uint8_t)cmd_result
+		};
 
 		if (trig->_cmd_ack_pub == nullptr) {
 			trig->_cmd_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp
index 5045085b8a..5d7a8c5d37 100644
--- a/src/drivers/px4io/px4io.cpp
+++ b/src/drivers/px4io/px4io.cpp
@@ -792,8 +792,6 @@ PX4IO::init()
 
 		} while (true);
 
-		/* send command to arm system via command API */
-		vehicle_command_s cmd;
 		/* send this to itself */
 		param_t sys_id_param = param_find("MAV_SYS_ID");
 		param_t comp_id_param = param_find("MAV_COMP_ID");
@@ -809,23 +807,25 @@ PX4IO::init()
 			errx(1, "PRM CMPID");
 		}
 
-		cmd.target_system = sys_id;
-		cmd.target_component = comp_id;
-		cmd.source_system = sys_id;
-		cmd.source_component = comp_id;
-		/* request arming */
-		cmd.param1 = 1.0f;
-		cmd.param2 = 0;
-		cmd.param3 = 0;
-		cmd.param4 = 0;
-		cmd.param5 = 0;
-		cmd.param6 = 0;
-		cmd.param7 = 0;
-		cmd.timestamp = hrt_absolute_time();
-		cmd.command = vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM;
-
-		/* ask to confirm command */
-		cmd.confirmation =  1;
+		/* send command to arm system via command API */
+		struct vehicle_command_s cmd = {
+			.timestamp = hrt_absolute_time(),
+			.param5 = 0.0f,
+			.param6 = 0.0f,
+			/* request arming */
+			.param1 = 1.0f,
+			.param2 = 0.0f,
+			.param3 = 0.0f,
+			.param4 = 0.0f,
+			.param7 = 0.0f,
+			.command = vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM,
+			.target_system = (uint8_t)sys_id,
+			.target_component = (uint8_t)comp_id,
+			.source_system = (uint8_t)sys_id,
+			.source_component = (uint8_t)comp_id,
+			/* ask to confirm command */
+			.confirmation = 1
+		};
 
 		/* send command once */
 		orb_advert_t pub = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
diff --git a/src/drivers/vmount/input_mavlink.cpp b/src/drivers/vmount/input_mavlink.cpp
index cbfcc59c64..94333f443e 100644
--- a/src/drivers/vmount/input_mavlink.cpp
+++ b/src/drivers/vmount/input_mavlink.cpp
@@ -285,10 +285,11 @@ int InputMavlinkCmdMount::update_impl(unsigned int timeout_ms, ControlData **con
 
 void InputMavlinkCmdMount::_ack_vehicle_command(uint16_t command)
 {
-	vehicle_command_ack_s vehicle_command_ack;
-	vehicle_command_ack.timestamp = hrt_absolute_time();
-	vehicle_command_ack.command = command;
-	vehicle_command_ack.result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
+	vehicle_command_ack_s vehicle_command_ack = {
+		.timestamp = hrt_absolute_time(),
+		.command = command,
+		.result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED
+	};
 
 	if (_vehicle_command_ack_pub == nullptr) {
 		_vehicle_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &vehicle_command_ack,
diff --git a/src/drivers/vmount/output_mavlink.cpp b/src/drivers/vmount/output_mavlink.cpp
index 3baa6dc110..3c30bc3895 100644
--- a/src/drivers/vmount/output_mavlink.cpp
+++ b/src/drivers/vmount/output_mavlink.cpp
@@ -54,15 +54,25 @@ OutputMavlink::OutputMavlink(const OutputConfig &output_config)
 
 int OutputMavlink::update(const ControlData *control_data)
 {
-	vehicle_command_s vehicle_command;
+	vehicle_command_s vehicle_command = {
+		.timestamp = 0,
+		.param5 = 0.0f,
+		.param6 = 0.0f,
+		.param1 = 0.0f,
+		.param2 = 0.0f,
+		.param3 = 0.0f,
+		.param4 = 0.0f,
+		.param7 = 0.0f,
+		.command = 0,
+		.target_system = (uint8_t)_config.mavlink_sys_id,
+		.target_component = (uint8_t)_config.mavlink_comp_id,
+	};
 
 	if (control_data) {
 		//got new command
 		_set_angle_setpoints(control_data);
 
 		vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONFIGURE;
-		vehicle_command.target_system = _config.mavlink_sys_id;
-		vehicle_command.target_component = _config.mavlink_comp_id;
 		vehicle_command.timestamp = hrt_absolute_time();
 
 		if (control_data->type == ControlData::Type::Neutral) {
@@ -93,8 +103,6 @@ int OutputMavlink::update(const ControlData *control_data)
 
 	vehicle_command.timestamp = t;
 	vehicle_command.command = vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL;
-	vehicle_command.target_system = _config.mavlink_sys_id;
-	vehicle_command.target_component = _config.mavlink_comp_id;
 
 	vehicle_command.param1 = _angle_outputs[0];
 	vehicle_command.param2 = _angle_outputs[1];
diff --git a/src/modules/commander/calibration_routines.cpp b/src/modules/commander/calibration_routines.cpp
index 1b7795d21e..abf9fde727 100644
--- a/src/modules/commander/calibration_routines.cpp
+++ b/src/modules/commander/calibration_routines.cpp
@@ -836,7 +836,6 @@ bool calibrate_cancel_check(orb_advert_t *mavlink_log_pub, int cancel_sub)
 
 	if (px4_poll(&fds[0], 1, 0) > 0) {
 		struct vehicle_command_s cmd;
-		memset(&cmd, 0, sizeof(cmd));
 
 		orb_copy(ORB_ID(vehicle_command), cancel_sub, &cmd);
 
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 88cd7d8a4f..0b24522006 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -498,21 +498,20 @@ int commander_main(int argc, char *argv[])
 
 			if (TRANSITION_DENIED != arm_disarm(true, &mavlink_log_pub, "command line")) {
 
-				vehicle_command_s cmd = {};
-				cmd.target_system = status.system_id;
-				cmd.target_component = status.component_id;
-
-				cmd.command = vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF;
-				cmd.param1 = NAN; /* minimum pitch */
-				/* param 2-3 unused */
-				cmd.param2 = NAN;
-				cmd.param3 = NAN;
-				cmd.param4 = NAN;
-				cmd.param5 = NAN;
-				cmd.param6 = NAN;
-				cmd.param7 = NAN;
-
-				cmd.timestamp = hrt_absolute_time();
+				struct vehicle_command_s cmd = {
+					.timestamp = hrt_absolute_time(),
+					.param5 = NAN,
+					.param6 = NAN,
+					/* minimum pitch */
+					.param1 = NAN,
+					.param2 = NAN,
+					.param3 = NAN,
+					.param4 = NAN,
+					.param7 = NAN,
+					.command = vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF,
+					.target_system = (uint8_t)status.system_id,
+					.target_component = (uint8_t)status.component_id
+				};
 
 				orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
 				(void)orb_unadvertise(h);
@@ -530,18 +529,20 @@ int commander_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "land")) {
 
-		vehicle_command_s cmd = {};
-		cmd.target_system = status.system_id;
-		cmd.target_component = status.component_id;
-
-		cmd.command = vehicle_command_s::VEHICLE_CMD_NAV_LAND;
-		/* param 2-3 unused */
-		cmd.param2 = NAN;
-		cmd.param3 = NAN;
-		cmd.param4 = NAN;
-		cmd.param5 = NAN;
-		cmd.param6 = NAN;
-		cmd.param7 = NAN;
+		struct vehicle_command_s cmd = {
+			.timestamp = 0,
+			.param5 = NAN,
+			.param6 = NAN,
+			/* minimum pitch */
+			.param1 = NAN,
+			.param2 = NAN,
+			.param3 = NAN,
+			.param4 = NAN,
+			.param7 = NAN,
+			.command = vehicle_command_s::VEHICLE_CMD_NAV_LAND,
+			.target_system = (uint8_t)status.system_id,
+			.target_component = (uint8_t)status.component_id
+		};
 
 		orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
 		(void)orb_unadvertise(h);
@@ -551,20 +552,20 @@ int commander_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "transition")) {
 
-		vehicle_command_s cmd = {};
-		cmd.target_system = status.system_id;
-		cmd.target_component = status.component_id;
-
-		cmd.command = vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION;
-		/* transition to the other mode */
-		cmd.param1 = (status.is_rotary_wing) ? vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW : vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
-		/* param 2-3 unused */
-		cmd.param2 = NAN;
-		cmd.param3 = NAN;
-		cmd.param4 = NAN;
-		cmd.param5 = NAN;
-		cmd.param6 = NAN;
-		cmd.param7 = NAN;
+		struct vehicle_command_s cmd = {
+			.timestamp = 0,
+			.param5 = NAN,
+			.param6 = NAN,
+			/* transition to the other mode */
+			.param1 = (float)((status.is_rotary_wing) ? vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW : vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC),
+			.param2 = NAN,
+			.param3 = NAN,
+			.param4 = NAN,
+			.param7 = NAN,
+			.command = vehicle_command_s::VEHICLE_CMD_DO_VTOL_TRANSITION,
+			.target_system = (uint8_t)status.system_id,
+			.target_component = (uint8_t)status.component_id
+		};
 
 		orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
 		(void)orb_unadvertise(h);
@@ -620,13 +621,20 @@ int commander_main(int argc, char *argv[])
 			return 1;
 		}
 
-		vehicle_command_s cmd = {};
-		cmd.target_system = status.system_id;
-		cmd.target_component = status.component_id;
-
-		cmd.command = vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION;
-		/* if the comparison matches for off (== 0) set 0.0f, 2.0f (on) else */
-		cmd.param1 = strcmp(argv[2], "off") ? 2.0f : 0.0f; /* lockdown */
+		struct vehicle_command_s cmd = {
+			.timestamp = 0,
+			.param5 = 0.0f,
+			.param6 = 0.0f,
+			/* if the comparison matches for off (== 0) set 0.0f, 2.0f (on) else */
+			.param1 = strcmp(argv[2], "off") ? 2.0f : 0.0f, /* lockdown */
+			.param2 = 0.0f,
+			.param3 = 0.0f,
+			.param4 = 0.0f,
+			.param7 = 0.0f,
+			.command = vehicle_command_s::VEHICLE_CMD_DO_FLIGHTTERMINATION,
+			.target_system = (uint8_t)status.system_id,
+			.target_component = (uint8_t)status.component_id
+		};
 
 		orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
 		(void)orb_unadvertise(h);
@@ -1650,8 +1658,6 @@ int commander_thread_main(int argc, char *argv[])
 
 	/* Subscribe to command topic */
 	int cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
-	struct vehicle_command_s cmd;
-	memset(&cmd, 0, sizeof(cmd));
 
 	/* Subscribe to parameters changed topic */
 	int param_changed_sub = orb_subscribe(ORB_ID(parameter_update));
@@ -2986,6 +2992,8 @@ int commander_thread_main(int argc, char *argv[])
 		orb_check(cmd_sub, &updated);
 
 		if (updated) {
+			struct vehicle_command_s cmd;
+
 			/* got command */
 			orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
 
@@ -4125,9 +4133,11 @@ void answer_command(struct vehicle_command_s &cmd, unsigned result,
 	}
 
 	/* publish ACK */
-	vehicle_command_ack_s command_ack = {};
-	command_ack.command = cmd.command;
-	command_ack.result = result;
+	vehicle_command_ack_s command_ack = {
+		.timestamp = 0,
+		.command = cmd.command,
+		.result = (uint8_t)result
+	};
 
 	if (command_ack_pub != nullptr) {
 		orb_publish(ORB_ID(vehicle_command_ack), command_ack_pub, &command_ack);
@@ -4144,8 +4154,6 @@ void *commander_low_prio_loop(void *arg)
 
 	/* Subscribe to command topic */
 	int cmd_sub = orb_subscribe(ORB_ID(vehicle_command));
-	struct vehicle_command_s cmd;
-	memset(&cmd, 0, sizeof(cmd));
 
 	/* command ack */
 	orb_advert_t command_ack_pub = nullptr;
@@ -4166,6 +4174,7 @@ void *commander_low_prio_loop(void *arg)
 			warn("commander: poll error %d, %d", pret, errno);
 			continue;
 		} else if (pret != 0) {
+			struct vehicle_command_s cmd;
 
 			/* if we reach here, we have a valid command */
 			orb_copy(ORB_ID(vehicle_command), cmd_sub, &cmd);
diff --git a/src/modules/events/send_event.cpp b/src/modules/events/send_event.cpp
index d7908131f2..5c3c2b49fb 100644
--- a/src/modules/events/send_event.cpp
+++ b/src/modules/events/send_event.cpp
@@ -122,7 +122,6 @@ void SendEvent::cycle()
 
 void SendEvent::process_commands()
 {
-	struct vehicle_command_s cmd;
 	bool updated;
 	orb_check(_vehicle_command_sub, &updated);
 
@@ -130,6 +129,8 @@ void SendEvent::process_commands()
 		return;
 	}
 
+	struct vehicle_command_s cmd;
+
 	orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd);
 
 	bool got_temperature_calibration_command = false, accel = false, baro = false, gyro = false;
@@ -167,12 +168,12 @@ void SendEvent::process_commands()
 
 void SendEvent::answer_command(const vehicle_command_s &cmd, unsigned result)
 {
-	struct vehicle_command_ack_s command_ack;
-
 	/* publish ACK */
-	command_ack.command = cmd.command;
-	command_ack.result = result;
-	command_ack.timestamp = hrt_absolute_time();
+	struct vehicle_command_ack_s command_ack = {
+		.timestamp = hrt_absolute_time(),
+		.command = cmd.command,
+		.result = (uint8_t)result,
+	};
 
 	if (_command_ack_pub != nullptr) {
 		orb_publish(ORB_ID(vehicle_command_ack), _command_ack_pub, &command_ack);
@@ -256,18 +257,17 @@ int SendEvent::custom_command(int argc, char *argv[])
 			}
 		}
 
-		vehicle_command_s cmd = {};
-		cmd.target_system = 0;
-		cmd.target_component = 0;
-
-		cmd.command = vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION;
-		cmd.param1 = (gyro_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN;
-		cmd.param2 = NAN;
-		cmd.param3 = NAN;
-		cmd.param4 = NAN;
-		cmd.param5 = (accel_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN;
-		cmd.param6 = NAN;
-		cmd.param7 = (baro_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN;
+		struct vehicle_command_s cmd = {
+			.timestamp = 0,
+			.param5 = (float)((accel_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN),
+			.param6 = NAN,
+			.param1 = (float)((gyro_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN),
+			.param2 = NAN,
+			.param3 = NAN,
+			.param4 = NAN,
+			.param7 = (float)((baro_calib || calib_all) ? vehicle_command_s::PREFLIGHT_CALIBRATION_TEMPERATURE_CALIBRATION : NAN),
+			.command = vehicle_command_s::VEHICLE_CMD_PREFLIGHT_CALIBRATION
+		};
 
 		orb_advert_t h = orb_advertise_queue(ORB_ID(vehicle_command), &cmd, vehicle_command_s::ORB_QUEUE_LENGTH);
 		(void)orb_unadvertise(h);
diff --git a/src/modules/logger/logger.cpp b/src/modules/logger/logger.cpp
index 839d0d1e8b..4604e373c1 100644
--- a/src/modules/logger/logger.cpp
+++ b/src/modules/logger/logger.cpp
@@ -2001,10 +2001,11 @@ int Logger::remove_directory(const char *dir)
 
 void Logger::ack_vehicle_command(orb_advert_t &vehicle_command_ack_pub, uint16_t command, uint32_t result)
 {
-	vehicle_command_ack_s vehicle_command_ack;
-	vehicle_command_ack.timestamp = hrt_absolute_time();
-	vehicle_command_ack.command = command;
-	vehicle_command_ack.result = result;
+	vehicle_command_ack_s vehicle_command_ack = {
+		.timestamp = hrt_absolute_time(),
+		.command = command,
+		.result = (uint8_t)result
+	};
 
 	if (vehicle_command_ack_pub == nullptr) {
 		vehicle_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &vehicle_command_ack,
diff --git a/src/modules/mavlink/mavlink_main.cpp b/src/modules/mavlink/mavlink_main.cpp
index 2eba718e93..472f8952ee 100644
--- a/src/modules/mavlink/mavlink_main.cpp
+++ b/src/modules/mavlink/mavlink_main.cpp
@@ -2200,7 +2200,7 @@ Mavlink::task_main(int argc, char *argv[])
 
 		/* send command ACK */
 		uint16_t current_command_ack = 0;
-		struct vehicle_command_ack_s command_ack = {};
+		struct vehicle_command_ack_s command_ack;
 
 		if (ack_sub->update(&ack_time, &command_ack)) {
 			if (!command_ack.from_external) {
diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp
index d382803c2e..b7d5772a30 100644
--- a/src/modules/mavlink/mavlink_messages.cpp
+++ b/src/modules/mavlink/mavlink_messages.cpp
@@ -1410,19 +1410,19 @@ protected:
 
 				mavlink_msg_camera_trigger_send_struct(_mavlink->get_channel(), &msg);
 
-				vehicle_command_s cmd{};
-
-				cmd.target_system = mavlink_system.sysid;
-				cmd.target_component = MAV_COMP_ID_CAMERA;
-				cmd.command = MAV_CMD_IMAGE_START_CAPTURE;
-				cmd.confirmation = 0;
-				cmd.param1 = 0; // all cameras
-				cmd.param2 = 0; // duration 0 because only taking one picture
-				cmd.param3 = 1; // only take one
-				cmd.param4 = NAN;
-				cmd.param5 = NAN;
-				cmd.param6 = NAN;
-				cmd.param7 = NAN;
+				struct vehicle_command_s cmd = {
+					.timestamp = 0,
+					.param5 = NAN,
+					.param6 = NAN,
+					.param1 = 0.0f, // all cameras
+					.param2 = 0.0f, // duration 0 because only taking one picture
+					.param3 = 1.0f, // only take one
+					.param4 = NAN,
+					.param7 = NAN,
+					.command = MAV_CMD_IMAGE_START_CAPTURE,
+					.target_system = mavlink_system.sysid,
+					.target_component = MAV_COMP_ID_CAMERA
+				};
 
 				MavlinkCommandSender::instance().handle_vehicle_command(cmd, _mavlink->get_channel());
 
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index fff5d55d7b..4ec488feb5 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -439,41 +439,25 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
 			_mavlink->request_stop_ulog_streaming();
 		}
 
-		struct vehicle_command_s vcmd;
-
-		memset(&vcmd, 0, sizeof(vcmd));
-
-		vcmd.timestamp = hrt_absolute_time();
-
-		/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
-		vcmd.param1 = cmd_mavlink.param1;
-
-		vcmd.param2 = cmd_mavlink.param2;
-
-		vcmd.param3 = cmd_mavlink.param3;
-
-		vcmd.param4 = cmd_mavlink.param4;
-
-		vcmd.param5 = cmd_mavlink.param5;
-
-		vcmd.param6 = cmd_mavlink.param6;
-
-		vcmd.param7 = cmd_mavlink.param7;
-
-		// XXX do proper translation
-		vcmd.command = cmd_mavlink.command;
-
-		vcmd.target_system = cmd_mavlink.target_system;
-
-		vcmd.target_component = cmd_mavlink.target_component;
-
-		vcmd.source_system = msg->sysid;
-
-		vcmd.source_component = msg->compid;
-
-		vcmd.confirmation =  cmd_mavlink.confirmation;
-
-		vcmd.from_external = 1;
+		struct vehicle_command_s vcmd = {
+			.timestamp = hrt_absolute_time(),
+			.param5 = cmd_mavlink.param5,
+			.param6 = cmd_mavlink.param6,
+			/* Copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
+			.param1 = cmd_mavlink.param1,
+			.param2 = cmd_mavlink.param2,
+			.param3 = cmd_mavlink.param3,
+			.param4 = cmd_mavlink.param4,
+			.param7 = cmd_mavlink.param7,
+			// XXX do proper translation
+			.command = cmd_mavlink.command,
+			.target_system = cmd_mavlink.target_system,
+			.target_component = cmd_mavlink.target_component,
+			.source_system = msg->sysid,
+			.source_component = msg->compid,
+			.confirmation = cmd_mavlink.confirmation,
+			.from_external = 1
+		};
 
 		if (_cmd_pub == nullptr) {
 			_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
@@ -486,15 +470,11 @@ MavlinkReceiver::handle_message_command_long(mavlink_message_t *msg)
 out:
 
 	if (send_ack) {
-		vehicle_command_ack_s command_ack;
-		command_ack.command = cmd_mavlink.command;
-
-		if (ret == PX4_OK) {
-			command_ack.result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
-
-		} else {
-			command_ack.result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;
-		}
+		vehicle_command_ack_s command_ack = {
+			.timestamp = 0,
+			.command = cmd_mavlink.command,
+			.result = (ret == PX4_OK ? vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED : vehicle_command_ack_s::VEHICLE_RESULT_FAILED)
+		};
 
 		if (_command_ack_pub == nullptr) {
 			_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
@@ -550,40 +530,26 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
 
 		send_ack = false;
 
-		struct vehicle_command_s vcmd;
-
-		memset(&vcmd, 0, sizeof(vcmd));
-
-		vcmd.timestamp = hrt_absolute_time();
-
-		/* Copy the content of mavlink_command_int_t cmd_mavlink into command_t cmd */
-		vcmd.param1 = cmd_mavlink.param1;
-
-		vcmd.param2 = cmd_mavlink.param2;
-
-		vcmd.param3 = cmd_mavlink.param3;
-
-		vcmd.param4 = cmd_mavlink.param4;
-
-		/* these are coordinates as 1e7 scaled integers to work around the 32 bit floating point limits */
-		vcmd.param5 = ((double)cmd_mavlink.x) / 1e7;
-
-		vcmd.param6 = ((double)cmd_mavlink.y) / 1e7;
-
-		vcmd.param7 = cmd_mavlink.z;
-
-		// XXX do proper translation
-		vcmd.command = cmd_mavlink.command;
-
-		vcmd.target_system = cmd_mavlink.target_system;
-
-		vcmd.target_component = cmd_mavlink.target_component;
-
-		vcmd.source_system = msg->sysid;
-
-		vcmd.source_component = msg->compid;
-
-		vcmd.from_external = 1;
+		struct vehicle_command_s vcmd = {
+			.timestamp = hrt_absolute_time(),
+			/* these are coordinates as 1e7 scaled integers to work around the 32 bit floating point limits */
+			.param5 = ((double)cmd_mavlink.x) / 1e7,
+			.param6 = ((double)cmd_mavlink.y) / 1e7,
+			/* Copy the content of mavlink_command_int_t cmd_mavlink into command_t cmd */
+			.param1 = cmd_mavlink.param1,
+			.param2 = cmd_mavlink.param2,
+			.param3 = cmd_mavlink.param3,
+			.param4 = cmd_mavlink.param4,
+			.param7 = cmd_mavlink.z,
+			// XXX do proper translation
+			.command = cmd_mavlink.command,
+			.target_system = cmd_mavlink.target_system,
+			.target_component = cmd_mavlink.target_component,
+			.source_system = msg->sysid,
+			.source_component = msg->compid,
+			.confirmation = 0,
+			.from_external = 1
+		};
 
 		if (_cmd_pub == nullptr) {
 			_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
@@ -596,15 +562,11 @@ MavlinkReceiver::handle_message_command_int(mavlink_message_t *msg)
 out:
 
 	if (send_ack) {
-		vehicle_command_ack_s command_ack;
-		command_ack.command = cmd_mavlink.command;
-
-		if (ret == PX4_OK) {
-			command_ack.result = vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
-
-		} else {
-			command_ack.result = vehicle_command_ack_s::VEHICLE_RESULT_FAILED;
-		}
+		vehicle_command_ack_s command_ack = {
+			.timestamp = 0,
+			.command = cmd_mavlink.command,
+			.result = (ret == PX4_OK ? vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED : vehicle_command_ack_s::VEHICLE_RESULT_FAILED)
+		};
 
 		if (_command_ack_pub == nullptr) {
 			_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
@@ -624,11 +586,12 @@ MavlinkReceiver::handle_message_command_ack(mavlink_message_t *msg)
 
 	MavlinkCommandSender::instance().handle_mavlink_command_ack(ack, msg->sysid, msg->compid);
 
-	vehicle_command_ack_s command_ack = {};
-	command_ack.command = ack.command;
-	command_ack.result = ack.result;
-	command_ack.timestamp = hrt_absolute_time();
-	command_ack.from_external = 1;
+	vehicle_command_ack_s command_ack = {
+		.timestamp = hrt_absolute_time(),
+		.command = ack.command,
+		.result = ack.result,
+		.from_external = 1
+	};
 
 	if (_command_ack_pub == nullptr) {
 		_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &command_ack,
@@ -764,27 +727,27 @@ MavlinkReceiver::handle_message_set_mode(mavlink_message_t *msg)
 	mavlink_set_mode_t new_mode;
 	mavlink_msg_set_mode_decode(msg, &new_mode);
 
-	struct vehicle_command_s vcmd;
-	memset(&vcmd, 0, sizeof(vcmd));
-
 	union px4_custom_mode custom_mode;
 	custom_mode.data = new_mode.custom_mode;
-	/* copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
-	vcmd.param1 = new_mode.base_mode;
-	vcmd.param2 = custom_mode.main_mode;
-	vcmd.param3 = custom_mode.sub_mode;
-	vcmd.param4 = 0;
-	vcmd.param5 = 0;
-	vcmd.param6 = 0;
-	vcmd.param7 = 0;
-	vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_SET_MODE;
-	vcmd.target_system = new_mode.target_system;
-	vcmd.target_component = MAV_COMP_ID_ALL;
-	vcmd.source_system = msg->sysid;
-	vcmd.source_component = msg->compid;
-	vcmd.confirmation = 1;
-	vcmd.timestamp = hrt_absolute_time();
-	vcmd.from_external = 1;
+
+	struct vehicle_command_s vcmd = {
+		.timestamp = hrt_absolute_time(),
+		.param5 = 0,
+		.param6 = 0,
+		/* copy the content of mavlink_command_long_t cmd_mavlink into command_t cmd */
+		.param1 = (float)new_mode.base_mode,
+		.param2 = (float)custom_mode.main_mode,
+		.param3 = (float)custom_mode.sub_mode,
+		.param4 = 0,
+		.param7 = 0,
+		.command = vehicle_command_s::VEHICLE_CMD_DO_SET_MODE,
+		.target_system = new_mode.target_system,
+		.target_component = MAV_COMP_ID_ALL,
+		.source_system = msg->sysid,
+		.source_component = msg->compid,
+		.confirmation = 1,
+		.from_external = 1
+	};
 
 	if (_cmd_pub == nullptr) {
 		_cmd_pub = orb_advertise_queue(ORB_ID(vehicle_command), &vcmd, vehicle_command_s::ORB_QUEUE_LENGTH);
diff --git a/src/modules/navigator/mission_block.cpp b/src/modules/navigator/mission_block.cpp
index b60dcf3550..35a7e896c9 100644
--- a/src/modules/navigator/mission_block.cpp
+++ b/src/modules/navigator/mission_block.cpp
@@ -476,11 +476,14 @@ MissionBlock::issue_command(const struct mission_item_s *item)
 		}
 
 	} else {
-		struct vehicle_command_s cmd = {};
-		mission_item_to_vehicle_command(item, &cmd);
 		const hrt_abstime now = hrt_absolute_time();
+
+		struct vehicle_command_s cmd = {
+			.timestamp = now
+		};
+
+		mission_item_to_vehicle_command(item, &cmd);
 		_action_start = now;
-		cmd.timestamp = now;
 
 		_navigator->publish_vehicle_cmd(cmd);
 	}
@@ -715,10 +718,17 @@ MissionBlock::set_land_item(struct mission_item_s *item, bool at_current_locatio
 	    !_navigator->get_vstatus()->is_rotary_wing &&
 	    _param_force_vtol.get() == 1) {
 
-		struct vehicle_command_s cmd = {};
-		cmd.command = NAV_CMD_DO_VTOL_TRANSITION;
-		cmd.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
-		cmd.timestamp = hrt_absolute_time();
+		struct vehicle_command_s cmd = {
+			.timestamp = hrt_absolute_time(),
+			.param5 = 0.0f,
+			.param6 = 0.0f,
+			.param1 = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC,
+			.param2 = 0.0f,
+			.param3 = 0.0f,
+			.param4 = 0.0f,
+			.param7 = 0.0f,
+			.command = NAV_CMD_DO_VTOL_TRANSITION
+		};
 
 		_navigator->publish_vehicle_cmd(cmd);
 	}
diff --git a/src/modules/navigator/navigator_main.cpp b/src/modules/navigator/navigator_main.cpp
index cfebbd1c82..cbc27c67ab 100644
--- a/src/modules/navigator/navigator_main.cpp
+++ b/src/modules/navigator/navigator_main.cpp
@@ -375,7 +375,7 @@ Navigator::task_main()
 		orb_check(_vehicle_command_sub, &updated);
 
 		if (updated) {
-			vehicle_command_s cmd = {};
+			vehicle_command_s cmd;
 			orb_copy(ORB_ID(vehicle_command), _vehicle_command_sub, &cmd);
 
 			if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_REPOSITION) {
@@ -479,15 +479,24 @@ Navigator::task_main()
 				int land_start = _mission.find_offboard_land_start();
 
 				if (land_start != -1) {
-					vehicle_command_s cmd_mission_start = {};
-					cmd_mission_start.timestamp = hrt_absolute_time();
-					cmd_mission_start.target_system = get_vstatus()->system_id;
-					cmd_mission_start.target_component = get_vstatus()->component_id;
-					cmd_mission_start.command = vehicle_command_s::VEHICLE_CMD_MISSION_START;
-					cmd_mission_start.param1 = land_start;
-					cmd_mission_start.param2 = 0;
+					struct vehicle_command_s vcmd = {};
+					vcmd.timestamp = hrt_absolute_time(),
+					     vcmd.param1 = (float)land_start,
+						  vcmd.param2 = 0.0f,
+						       vcmd.param3 = 0.0f,
+							    vcmd.param4 = 0.0f,
+								 vcmd.param5 = 0.0,
+								      vcmd.param6 = 0.0,
+									   vcmd.param7 = 0.0f,
+										vcmd.command = vehicle_command_s::VEHICLE_CMD_MISSION_START;
+					vcmd.target_system = (uint8_t)get_vstatus()->system_id;
+					vcmd.target_component = (uint8_t)get_vstatus()->component_id;
+					vcmd.source_system = (uint8_t)get_vstatus()->system_id;
+					vcmd.source_component = (uint8_t)get_vstatus()->component_id;
+					vcmd.confirmation = false;
+					vcmd.from_external = false;
 
-					publish_vehicle_cmd(cmd_mission_start);
+					publish_vehicle_cmd(vcmd);
 
 				} else {
 					PX4_WARN("planned landing not available");
diff --git a/src/modules/sdlog2/sdlog2.c b/src/modules/sdlog2/sdlog2.c
index 24d55c1b11..de54e22f7f 100644
--- a/src/modules/sdlog2/sdlog2.c
+++ b/src/modules/sdlog2/sdlog2.c
@@ -385,6 +385,8 @@ int sdlog2_main(int argc, char *argv[])
 
 	if (!strncmp(argv[1], "on", 2)) {
 		struct vehicle_command_s cmd;
+
+		memset(&cmd, 0, sizeof(cmd));
 		cmd.command = VEHICLE_CMD_PREFLIGHT_STORAGE;
 		cmd.param1 = -1;
 		cmd.param2 = -1;
@@ -396,6 +398,8 @@ int sdlog2_main(int argc, char *argv[])
 
 	if (!strcmp(argv[1], "off")) {
 		struct vehicle_command_s cmd;
+
+		memset(&cmd, 0, sizeof(cmd));
 		cmd.command = VEHICLE_CMD_PREFLIGHT_STORAGE;
 		cmd.param1 = -1;
 		cmd.param2 = -1;
diff --git a/src/modules/uavcan/uavcan_servers.cpp b/src/modules/uavcan/uavcan_servers.cpp
index ef7439f70d..e8f6742861 100644
--- a/src/modules/uavcan/uavcan_servers.cpp
+++ b/src/modules/uavcan/uavcan_servers.cpp
@@ -534,9 +534,11 @@ pthread_addr_t UavcanServers::run(pthread_addr_t)
 			}
 
 			// Acknowledge the received command
-			struct vehicle_command_ack_s ack = {};
-			ack.command = cmd.command;
-			ack.result = cmd_ack_result;
+			struct vehicle_command_ack_s ack = {
+				.timestamp = 0,
+				.command = cmd.command,
+				.result = cmd_ack_result
+			};
 
 			if (_command_ack_pub == nullptr) {
 				_command_ack_pub = orb_advertise_queue(ORB_ID(vehicle_command_ack), &ack, vehicle_command_ack_s::ORB_QUEUE_LENGTH);
diff --git a/src/platforms/posix/tests/muorb/muorb_test_example.h b/src/platforms/posix/tests/muorb/muorb_test_example.h
index 4f4dcf02d6..f706cbaf89 100644
--- a/src/platforms/posix/tests/muorb/muorb_test_example.h
+++ b/src/platforms/posix/tests/muorb/muorb_test_example.h
@@ -57,6 +57,6 @@ private:
 	int DefaultTest();
 	int PingPongTest();
 	struct esc_status_s m_esc_status;
-	struct vehicle_command_s m_vc;
+	struct vehicle_command_s m_vc = {};
 
 };
diff --git a/src/platforms/qurt/tests/muorb/muorb_test_example.h b/src/platforms/qurt/tests/muorb/muorb_test_example.h
index 68236eb854..aea7646bc9 100644
--- a/src/platforms/qurt/tests/muorb/muorb_test_example.h
+++ b/src/platforms/qurt/tests/muorb/muorb_test_example.h
@@ -54,6 +54,6 @@ private:
 	int uSleepTest();
 
 	struct esc_status_s m_esc_status;
-	struct vehicle_command_s m_vc;
+	struct vehicle_command_s m_vc = {};
 
 };