diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
index e469296e8a..cabf245190 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
@@ -950,6 +950,8 @@ void NavEKF3_core::writeExtNavData(const Vector3f &pos, const Quaternion &quat,
         extNavMeasTime_ms = timeStamp_ms;
     }
 
+    ext_nav_elements extNavDataNew {};
+
     if (resetTime_ms != extNavLastPosResetTime_ms) {
         extNavDataNew.posReset = true;
         extNavLastPosResetTime_ms = resetTime_ms;
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
index a8d8469944..2934d69f90 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
@@ -395,8 +395,7 @@ void NavEKF3_core::InitialiseVariables()
     memset(&yawAngDataDelayed, 0, sizeof(yawAngDataDelayed));
 
     // external nav data fusion
-    memset(&extNavDataNew, 0, sizeof(extNavDataNew));
-    memset(&extNavDataDelayed, 0, sizeof(extNavDataDelayed));
+    extNavDataDelayed = {};
     extNavMeasTime_ms = 0;
     extNavLastPosResetTime_ms = 0;
     lastExtNavPassTime_ms = 0;
diff --git a/libraries/AP_NavEKF3/AP_NavEKF3_core.h b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
index a873bdc5e3..4d6fa874e9 100644
--- a/libraries/AP_NavEKF3/AP_NavEKF3_core.h
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_core.h
@@ -1329,7 +1329,6 @@ private:
 
     // external navigation fusion
     obs_ring_buffer_t<ext_nav_elements> storedExtNav; // external navigation data buffer
-    ext_nav_elements extNavDataNew;     // External nav data at the current time horizon
     ext_nav_elements extNavDataDelayed; // External nav at the fusion time horizon
     uint32_t extNavMeasTime_ms;         // time external measurements were accepted for input to the data buffer (msec)
     uint32_t extNavLastPosResetTime_ms; // last time the external nav systen performed a position reset (msec)