diff --git a/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/CMakeLists.txt b/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/CMakeLists.txt
index 10cca76197..d036af4189 100644
--- a/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/CMakeLists.txt
+++ b/libraries/AP_HAL_ESP32/targets/esp32/esp-idf/CMakeLists.txt
@@ -120,5 +120,8 @@ target_link_libraries(${elf_file}
 # linker script generation, partition_table generation, etc.
 idf_build_executable(${elf_file})
 
+# wrap malloc to ensure memory is zeroed
+target_link_options(${elf_file} PRIVATE "-Wl,--wrap,malloc")
+
 set(CMAKE_EXPORT_COMPILE_COMMANDS 1)
 
diff --git a/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/CMakeLists.txt b/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/CMakeLists.txt
index c00f753174..a46fa4052f 100644
--- a/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/CMakeLists.txt
+++ b/libraries/AP_HAL_ESP32/targets/esp32s3/esp-idf/CMakeLists.txt
@@ -120,4 +120,7 @@ target_link_libraries(${elf_file}
 # linker script generation, partition_table generation, etc.
 idf_build_executable(${elf_file})
 
+# wrap malloc to ensure memory is zeroed
+target_link_options(${elf_file} PRIVATE "-Wl,--wrap,malloc")
+
 set(CMAKE_EXPORT_COMPILE_COMMANDS 1)