diff --git a/src/modules/fw_att_pos_estimator/estimator.cpp b/src/modules/fw_att_pos_estimator/estimator.cpp
index bae4272340..0f2559c58b 100644
--- a/src/modules/fw_att_pos_estimator/estimator.cpp
+++ b/src/modules/fw_att_pos_estimator/estimator.cpp
@@ -1,9 +1,5 @@
 #include "estimator.h"
 
-// For debugging only
-#include <cstdlib>
-#include <stdio.h>
-
 // Global variables
 float KH[n_states][n_states]; //  intermediate result used for covariance updates
 float KHP[n_states][n_states]; // intermediate result used for covariance updates
@@ -1840,8 +1836,6 @@ void InitialiseFilter(float (&initvelNED)[3])
     Vector3f initMagXYZ;
     initMagXYZ   = magData - magBias;
     AttitudeInit(accel.x, accel.y, accel.z, initMagXYZ.x, initMagXYZ.y, initMagXYZ.z, initQuat);
-        printf("initializing: accel: %8.4f %8.4f %8.4f, mag: %8.4f %8.4f %8.4f q: %8.4f %8.4f %8.4f %8.4f\n",
-        accel.x, accel.y, accel.z, initMagXYZ.x, initMagXYZ.y, initMagXYZ.z, initQuat[0], initQuat[1], initQuat[2], initQuat[3]);
 
     // Calculate initial Tbn matrix and rotate Mag measurements into NED
     // to set initial NED magnetic field states
diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
index 2b7cdc1189..688a44c470 100644
--- a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
+++ b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp
@@ -172,6 +172,7 @@ private:
 	perf_counter_t	_perf_airspeed;			///<local performance counter for airspeed updates
 
 	bool						_initialized;
+	bool						_gps_initialized;
 
 	struct {
 		float		throttle_cruise;
@@ -262,7 +263,8 @@ FixedwingEstimator::FixedwingEstimator() :
 	_perf_airspeed(perf_alloc(PC_COUNT, "fw_ekf_aspd_upd")),
 
 /* states */
-	_initialized(false)
+	_initialized(false),
+	_gps_initialized(false)
 {
 
 	_parameter_handles.throttle_cruise = param_find("NAV_DUMMY");