diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
index 79370e17c0..26e708fb73 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.cpp
@@ -397,6 +397,7 @@ AP_InertialSensor_MPU6000::AP_InertialSensor_MPU6000(AP_InertialSensor &imu, AP_
 AP_InertialSensor_MPU6000::~AP_InertialSensor_MPU6000()
 {
     delete _bus;
+    delete _samples;
 }
 
 /* Detect the sensor on SPI bus. It must have a corresponding device on
diff --git a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
index e5d7392ef9..bb134610cd 100644
--- a/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
+++ b/libraries/AP_InertialSensor/AP_InertialSensor_MPU6000.h
@@ -111,7 +111,7 @@ private:
 #endif
     volatile uint16_t _sum_count;
     bool _fifo_mode;
-    uint8_t *_samples;
+    uint8_t *_samples = nullptr;
 };
 
 class AP_MPU6000_BusDriver_SPI : public AP_MPU6000_BusDriver