diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index 993d35304f..54f3af9163 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -29,30 +29,14 @@ Copter::Copter(void)
     control_mode(STABILIZE),
     scaleLongDown(1),
     simple_cos_yaw(1.0f),
-    simple_sin_yaw(0.0f),
-    super_simple_last_bearing(0),
     super_simple_cos_yaw(1.0),
-    super_simple_sin_yaw(0.0f),
-    initial_armed_bearing(0),
-    climb_rate(0),
-    target_rangefinder_alt(0.0f),
-    baro_alt(0),
-    baro_climbrate(0.0f),
     land_accel_ef_filter(LAND_DETECTOR_ACCEL_LPF_CUTOFF),
     rc_throttle_control_in_filter(1.0f),
     auto_yaw_mode(AUTO_YAW_LOOK_AT_NEXT_WP),
-    yaw_look_at_WP_bearing(0.0f),
-    yaw_look_at_heading(0),
-    yaw_look_at_heading_slew(0),
-    yaw_look_ahead_bearing(0.0f),
     inertial_nav(ahrs),
-    auto_trim_counter(0),
-    in_mavlink_delay(false),
     param_loader(var_info),
     flightmode(&mode_stabilize)
 {
-    memset(&current_loc, 0, sizeof(current_loc));
-
     // init sensor error logging flags
     sensor_health.baro = true;
     sensor_health.compass = true;
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index a8243bba82..8c02bee31f 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -269,7 +269,7 @@ private:
     float ekfNavVelGainScaler;
 
     // system time in milliseconds of last recorded yaw reset from ekf
-    uint32_t ekfYawReset_ms = 0;
+    uint32_t ekfYawReset_ms;
     int8_t ekf_primary_core;
 
     AP_SerialManager serial_manager;
@@ -381,7 +381,7 @@ private:
     struct {
         uint8_t baro        : 1;    // true if baro is healthy
         uint8_t compass     : 1;    // true if compass is healthy
-        uint8_t primary_gps;        // primary gps index
+        uint8_t primary_gps : 2;    // primary gps index
     } sensor_health;
 
     // Motor Output