diff --git a/src/modules/mc_att_control/mc_att_control_main.cpp b/src/modules/mc_att_control/mc_att_control_main.cpp
index ae67a6045c..8e939618fe 100644
--- a/src/modules/mc_att_control/mc_att_control_main.cpp
+++ b/src/modules/mc_att_control/mc_att_control_main.cpp
@@ -536,8 +536,7 @@ MulticopterAttitudeControl::MulticopterAttitudeControl() :
 		_ts_opt_recovery = new TailsitterRecovery();
 	}
 
-	/* initialize thermal corrections as we might not immediately get a topic update */
-	memset(&_sensor_correction, 0, sizeof(_sensor_correction));
+	/* initialize thermal corrections as we might not immediately get a topic update (only non-zero values) */
 	for (unsigned i = 0; i < 3; i++) {
 		// used scale factors to unity
 		_sensor_correction.gyro_scale_0[i] = 1.0f;
@@ -1007,6 +1006,7 @@ MulticopterAttitudeControl::control_attitude_rates(float dt)
 		rates(0) = (_sensor_gyro.x - _sensor_correction.gyro_offset_2[0]) * _sensor_correction.gyro_scale_2[0];
 		rates(1) = (_sensor_gyro.x - _sensor_correction.gyro_offset_2[1]) * _sensor_correction.gyro_scale_2[1];
 		rates(2) = (_sensor_gyro.x - _sensor_correction.gyro_offset_2[2]) * _sensor_correction.gyro_scale_2[2];
+
 	} else {
 		rates(0) = _sensor_gyro.x;
 		rates(1) = _sensor_gyro.y;