diff --git a/ArduCopter/Copter.cpp b/ArduCopter/Copter.cpp
index 6047243ee4..0ef6474da0 100644
--- a/ArduCopter/Copter.cpp
+++ b/ArduCopter/Copter.cpp
@@ -125,8 +125,7 @@ Copter::Copter(void) :
 #endif
     in_mavlink_delay(false),
     gcs_out_of_time(false),
-    param_loader(var_info),
-    ekfYawReset_ms(0)
+    param_loader(var_info)
 {
     memset(&current_loc, 0, sizeof(current_loc));
 
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 9b0debafb5..0b306bd8fc 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -208,7 +208,8 @@ private:
     // scale factor applied to velocity controller gain to prevent optical flow noise causing excessive angle demand noise
     float ekfNavVelGainScaler;
 
-    uint32_t ekfYawReset_ms;
+    // system time in milliseconds of last recorded yaw reset from ekf
+    uint32_t ekfYawReset_ms = 0;
 
     // GCS selection
     AP_SerialManager serial_manager;