diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index e288bc9410..40b69877bd 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -692,7 +692,7 @@ MAV_MISSION_RESULT AP_Mission::mavlink_int_to_mission_cmd(const mavlink_mission_
     // command's position in mission list and mavlink id
     cmd.index = packet.seq;
     cmd.id = packet.command;
-    memset(&cmd.content.location, 0, sizeof(cmd.content.location));
+    cmd.content.location = {};
 
     MAV_MISSION_RESULT param_check = sanity_check_params(packet);
     if (param_check != MAV_MISSION_ACCEPTED) {
diff --git a/libraries/AP_Mission/AP_Mission.h b/libraries/AP_Mission/AP_Mission.h
index e329fa263a..d67080d473 100644
--- a/libraries/AP_Mission/AP_Mission.h
+++ b/libraries/AP_Mission/AP_Mission.h
@@ -17,6 +17,7 @@
 #include <GCS_MAVLink/GCS_MAVLink.h>
 #include <AP_Math/AP_Math.h>
 #include <AP_Common/AP_Common.h>
+#include <AP_Common/Location.h>
 #include <AP_Param/AP_Param.h>
 #include <StorageManager/StorageManager.h>
 
@@ -256,7 +257,7 @@ public:
         Winch_Command winch;
 
         // location
-        Location location;      // Waypoint location
+        Location location{};      // Waypoint location
     };
 
     // command structure