diff --git a/src/modules/mc_pos_control/mc_pos_control_main.cpp b/src/modules/mc_pos_control/mc_pos_control_main.cpp
index ecd402bd9aa3..61c6e451cf84 100644
--- a/src/modules/mc_pos_control/mc_pos_control_main.cpp
+++ b/src/modules/mc_pos_control/mc_pos_control_main.cpp
@@ -147,7 +147,7 @@ class MulticopterPositionControl : public ModuleBase<MulticopterPositionControl>
 	vehicle_trajectory_waypoint_s _traj_wp_avoidance{};		/**< trajectory waypoint */
 	vehicle_trajectory_waypoint_s _traj_wp_avoidance_desired{};	/**< desired waypoints, inputs to an obstacle avoidance module */
 	landing_gear_s _landing_gear{};
-	int8_t	_old_landing_gear_position;
+	int8_t _old_landing_gear_position{landing_gear_s::GEAR_KEEP};
 
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::MPC_TKO_RAMP_T>) _takeoff_ramp_time, /**< time constant for smooth takeoff ramp */
diff --git a/src/modules/vmount/output.cpp b/src/modules/vmount/output.cpp
index 2e07d81632f1..d9d01bb372bf 100644
--- a/src/modules/vmount/output.cpp
+++ b/src/modules/vmount/output.cpp
@@ -207,13 +207,13 @@ void OutputBase::_calculate_output_angles(const hrt_abstime &t)
 
 	//get the output angles and stabilize if necessary
 	vehicle_attitude_s vehicle_attitude;
+	matrix::Eulerf euler;
 
 	if (_stabilize[0] || _stabilize[1] || _stabilize[2]) {
 		orb_copy(ORB_ID(vehicle_attitude), _vehicle_attitude_sub, &vehicle_attitude);
+		euler = matrix::Quatf(vehicle_attitude.q);
 	}
 
-	matrix::Eulerf euler = matrix::Quatf(vehicle_attitude.q);
-
 	for (int i = 0; i < 3; ++i) {
 		if (_stabilize[i]) {
 			_angle_outputs[i] = _angle_setpoints[i] - euler(i);