diff --git a/attitude_fw/ecl_controller.cpp b/attitude_fw/ecl_controller.cpp
index ec870f3623..c44af60215 100644
--- a/attitude_fw/ecl_controller.cpp
+++ b/attitude_fw/ecl_controller.cpp
@@ -51,7 +51,7 @@
 #include <stdio.h>
 #include <mathlib/mathlib.h>
 
-ECL_Controller::ECL_Controller(const char *name) :
+ECL_Controller::ECL_Controller() :
 	_last_run(0),
 	_tc(0.1f),
 	_k_p(0.0f),
diff --git a/attitude_fw/ecl_controller.h b/attitude_fw/ecl_controller.h
index e56ce7d02b..6028825503 100644
--- a/attitude_fw/ecl_controller.h
+++ b/attitude_fw/ecl_controller.h
@@ -75,7 +75,7 @@ struct ECL_ControlData {
 class ECL_Controller
 {
 public:
-	ECL_Controller(const char *name);
+	ECL_Controller();
 	virtual ~ECL_Controller() = default;
 
 	virtual float control_attitude(const struct ECL_ControlData &ctl_data) = 0;
diff --git a/attitude_fw/ecl_pitch_controller.cpp b/attitude_fw/ecl_pitch_controller.cpp
index 3760674efc..e1b5e08b93 100644
--- a/attitude_fw/ecl_pitch_controller.cpp
+++ b/attitude_fw/ecl_pitch_controller.cpp
@@ -44,13 +44,6 @@
 #include <geo/geo.h>
 #include <mathlib/mathlib.h>
 
-ECL_PitchController::ECL_PitchController() :
-	ECL_Controller("pitch"),
-	_max_rate_neg(0.0f),
-	_roll_ff(0.0f)
-{
-}
-
 float ECL_PitchController::control_attitude(const struct ECL_ControlData &ctl_data)
 {
 
diff --git a/attitude_fw/ecl_pitch_controller.h b/attitude_fw/ecl_pitch_controller.h
index 632072e8a4..b3b0183792 100644
--- a/attitude_fw/ecl_pitch_controller.h
+++ b/attitude_fw/ecl_pitch_controller.h
@@ -57,7 +57,7 @@ class ECL_PitchController :
 	public ECL_Controller
 {
 public:
-	ECL_PitchController();
+	ECL_PitchController() = default;
 	~ECL_PitchController() = default;
 
 	float control_attitude(const struct ECL_ControlData &ctl_data);
@@ -86,8 +86,8 @@ public:
 	}
 
 protected:
-	float _max_rate_neg;
-	float _roll_ff;
+	float _max_rate_neg{0.0f};
+	float _roll_ff{0.0f};
 };
 
 #endif // ECL_PITCH_CONTROLLER_H
diff --git a/attitude_fw/ecl_roll_controller.cpp b/attitude_fw/ecl_roll_controller.cpp
index 259a3e916c..f1bf17eaf6 100644
--- a/attitude_fw/ecl_roll_controller.cpp
+++ b/attitude_fw/ecl_roll_controller.cpp
@@ -43,11 +43,6 @@
 #include <geo/geo.h>
 #include <mathlib/mathlib.h>
 
-ECL_RollController::ECL_RollController() :
-	ECL_Controller("roll")
-{
-}
-
 float ECL_RollController::control_attitude(const struct ECL_ControlData &ctl_data)
 {
 	/* Do not calculate control signal with bad inputs */
diff --git a/attitude_fw/ecl_roll_controller.h b/attitude_fw/ecl_roll_controller.h
index 95c01b3c15..1efbcb1116 100644
--- a/attitude_fw/ecl_roll_controller.h
+++ b/attitude_fw/ecl_roll_controller.h
@@ -55,7 +55,7 @@ class ECL_RollController :
 	public ECL_Controller
 {
 public:
-	ECL_RollController();
+	ECL_RollController() = default;
 	~ECL_RollController() = default;
 
 	float control_attitude(const struct ECL_ControlData &ctl_data);
diff --git a/attitude_fw/ecl_wheel_controller.cpp b/attitude_fw/ecl_wheel_controller.cpp
index c291f3f054..3067436228 100644
--- a/attitude_fw/ecl_wheel_controller.cpp
+++ b/attitude_fw/ecl_wheel_controller.cpp
@@ -46,11 +46,6 @@
 
 using matrix::wrap_pi;
 
-ECL_WheelController::ECL_WheelController() :
-	ECL_Controller("wheel")
-{
-}
-
 float ECL_WheelController::control_bodyrate(const struct ECL_ControlData &ctl_data)
 {
 	/* Do not calculate control signal with bad inputs */
diff --git a/attitude_fw/ecl_wheel_controller.h b/attitude_fw/ecl_wheel_controller.h
index 26554bb7f3..de07c24486 100644
--- a/attitude_fw/ecl_wheel_controller.h
+++ b/attitude_fw/ecl_wheel_controller.h
@@ -55,14 +55,14 @@ class ECL_WheelController :
 	public ECL_Controller
 {
 public:
-	ECL_WheelController();
+	ECL_WheelController() = default;
 	~ECL_WheelController() = default;
 
 	float control_attitude(const struct ECL_ControlData &ctl_data);
 
 	float control_bodyrate(const struct ECL_ControlData &ctl_data);
 
-	float control_euler_rate(const struct ECL_ControlData &ctl_data) {return 0;}
+	float control_euler_rate(const struct ECL_ControlData &ctl_data) { (void)ctl_data; return 0; }
 };
 
 #endif // ECL_HEADING_CONTROLLER_H
diff --git a/attitude_fw/ecl_yaw_controller.cpp b/attitude_fw/ecl_yaw_controller.cpp
index d7adecb162..4ff7559a3b 100644
--- a/attitude_fw/ecl_yaw_controller.cpp
+++ b/attitude_fw/ecl_yaw_controller.cpp
@@ -43,14 +43,6 @@
 #include <geo/geo.h>
 #include <mathlib/mathlib.h>
 
-ECL_YawController::ECL_YawController() :
-	ECL_Controller("yaw"),
-	_coordinated_min_speed(1.0f),
-	_max_rate(0.0f), /* disable by default */
-	_coordinated_method(0)
-{
-}
-
 float ECL_YawController::control_attitude(const struct ECL_ControlData &ctl_data)
 {
 	switch (_coordinated_method) {
@@ -194,6 +186,8 @@ float ECL_YawController::control_bodyrate(const struct ECL_ControlData &ctl_data
 
 float ECL_YawController::control_attitude_impl_accclosedloop(const struct ECL_ControlData &ctl_data)
 {
+	(void)ctl_data; // unused
+
 	/* dont set a rate setpoint */
 	return 0.0f;
 }
diff --git a/attitude_fw/ecl_yaw_controller.h b/attitude_fw/ecl_yaw_controller.h
index 15549a9977..41b9bda4fd 100644
--- a/attitude_fw/ecl_yaw_controller.h
+++ b/attitude_fw/ecl_yaw_controller.h
@@ -54,7 +54,7 @@ class ECL_YawController :
 	public ECL_Controller
 {
 public:
-	ECL_YawController();
+	ECL_YawController() = default;
 	~ECL_YawController() = default;
 
 	float control_attitude(const struct ECL_ControlData &ctl_data);
@@ -78,10 +78,10 @@ public:
 	};
 
 protected:
-	float _coordinated_min_speed;
-	float _max_rate;
+	float _coordinated_min_speed{1.0f};
+	float _max_rate{0.0f};
 
-	int32_t _coordinated_method;
+	int32_t _coordinated_method{COORD_METHOD_OPEN};
 
 	float control_attitude_impl_openloop(const struct ECL_ControlData &ctl_data);