diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index b09dda32f1..65647a6743 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -681,7 +681,7 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 	mavlink_set_position_target_local_ned_t set_position_target_local_ned;
 	mavlink_msg_set_position_target_local_ned_decode(msg, &set_position_target_local_ned);
 
-	struct offboard_control_mode_s offboard_control_mode;
+	struct offboard_control_mode_s offboard_control_mode = {};
 	memset(&offboard_control_mode, 0, sizeof(offboard_control_mode));//XXX breaks compatibility with multiple setpoints
 
 	bool values_finite =
@@ -758,7 +758,7 @@ MavlinkReceiver::handle_message_set_position_target_local_ned(mavlink_message_t
 
 				} else {
 					/* It's not a pure force setpoint: publish to setpoint triplet  topic */
-					struct position_setpoint_triplet_s pos_sp_triplet;
+					struct position_setpoint_triplet_s pos_sp_triplet = {};
 					pos_sp_triplet.previous.valid = false;
 					pos_sp_triplet.next.valid = false;
 					pos_sp_triplet.current.valid = true;
@@ -861,7 +861,7 @@ MavlinkReceiver::handle_message_set_actuator_control_target(mavlink_message_t *m
 	struct offboard_control_mode_s offboard_control_mode;
 	memset(&offboard_control_mode, 0, sizeof(offboard_control_mode));//XXX breaks compatibility with multiple setpoints
 
-	struct actuator_controls_s actuator_controls;
+	struct actuator_controls_s actuator_controls = {};
 	memset(&actuator_controls, 0, sizeof(actuator_controls));//XXX breaks compatibility with multiple setpoints
 
 	bool values_finite =