diff --git a/libraries/AP_DDS/AP_DDS_Client.cpp b/libraries/AP_DDS/AP_DDS_Client.cpp
index 16289b3309..9ae7e0149b 100644
--- a/libraries/AP_DDS/AP_DDS_Client.cpp
+++ b/libraries/AP_DDS/AP_DDS_Client.cpp
@@ -232,6 +232,12 @@ void AP_DDS_Client::populate_static_transforms(tf2_msgs_msg_TFMessage& msg)
         msg.transforms[i].transform.translation.y = -1 * offset[1];
         msg.transforms[i].transform.translation.z = -1 * offset[2];
 
+        // Ensure rotation is normalised
+        msg.transforms[i].transform.rotation.x = 0.0;
+        msg.transforms[i].transform.rotation.y = 0.0;
+        msg.transforms[i].transform.rotation.z = 0.0;
+        msg.transforms[i].transform.rotation.w = 1.0;
+
         msg.transforms_size++;
     }
 
@@ -343,6 +349,11 @@ void AP_DDS_Client::update_topic(geometry_msgs_msg_PoseStamped& msg)
         msg.pose.orientation.x = orientation[1];
         msg.pose.orientation.y = orientation[2];
         msg.pose.orientation.z = orientation[3];
+    } else {
+        msg.pose.orientation.x = 0.0;
+        msg.pose.orientation.y = 0.0;
+        msg.pose.orientation.z = 0.0;
+        msg.pose.orientation.w = 1.0;
     }
 }
 
@@ -422,6 +433,11 @@ void AP_DDS_Client::update_topic(geographic_msgs_msg_GeoPoseStamped& msg)
         msg.pose.orientation.x = orientation[1];
         msg.pose.orientation.y = orientation[2];
         msg.pose.orientation.z = orientation[3];
+    } else {
+        msg.pose.orientation.x = 0.0;
+        msg.pose.orientation.y = 0.0;
+        msg.pose.orientation.z = 0.0;
+        msg.pose.orientation.w = 1.0;
     }
 }