diff --git a/EKF/estimator_interface.cpp b/EKF/estimator_interface.cpp
index b5457f38d6..7348fa6fbe 100644
--- a/EKF/estimator_interface.cpp
+++ b/EKF/estimator_interface.cpp
@@ -52,6 +52,13 @@ EstimatorInterface::EstimatorInterface():
 	_imu_buffer_length(30),
 	_min_obs_interval_us(0),
 	_dt_imu_avg(0.0f),
+	_mag_sample_delayed{},
+	_baro_sample_delayed{},
+	_gps_sample_delayed{},
+	_range_sample_delayed{},
+	_airspeed_sample_delayed{},
+	_flow_sample_delayed{},
+	_ev_sample_delayed{},
 	_imu_ticks(0),
 	_imu_updated(false),
 	_initialised(false),
@@ -59,10 +66,14 @@ EstimatorInterface::EstimatorInterface():
 	_gps_speed_valid(false),
 	_gps_origin_eph(0.0f),
 	_gps_origin_epv(0.0f),
+	_pos_ref{},
 	_yaw_test_ratio(0.0f),
+	_mag_test_ratio{},
+	_vel_pos_test_ratio{},
 	_tas_test_ratio(0.0f),
 	_terr_test_ratio(0.0f),
 	_beta_test_ratio(0.0f),
+	_vibe_metrics{},
 	_time_last_imu(0),
 	_time_last_gps(0),
 	_time_last_mag(0),
@@ -74,19 +85,8 @@ EstimatorInterface::EstimatorInterface():
 	_mag_declination_gps(0.0f),
 	_mag_declination_to_save_deg(0.0f)
 {
-	_pos_ref = {};
-	memset(_mag_test_ratio, 0, sizeof(_mag_test_ratio));
-	memset(_vel_pos_test_ratio, 0, sizeof(_vel_pos_test_ratio));
 	_delta_ang_prev.setZero();
 	_delta_vel_prev.setZero();
-	memset(_vibe_metrics, 0, sizeof(_vibe_metrics));
-	memset(&_mag_sample_delayed, 0, sizeof(_mag_sample_delayed));
-	memset(&_baro_sample_delayed, 0, sizeof(_baro_sample_delayed));
-	memset(&_gps_sample_delayed, 0, sizeof(_gps_sample_delayed));
-	memset(&_range_sample_delayed, 0, sizeof(_range_sample_delayed));
-	memset(&_airspeed_sample_delayed, 0, sizeof(_airspeed_sample_delayed));
-	memset(&_flow_sample_delayed, 0, sizeof(_flow_sample_delayed));
-	memset(&_ev_sample_delayed, 0, sizeof(_ev_sample_delayed));
 }
 
 EstimatorInterface::~EstimatorInterface()