diff --git a/libraries/AP_DroneCAN/AP_DroneCAN.cpp b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
index be43ab7ac0..7a3651ce14 100644
--- a/libraries/AP_DroneCAN/AP_DroneCAN.cpp
+++ b/libraries/AP_DroneCAN/AP_DroneCAN.cpp
@@ -914,15 +914,16 @@ void AP_DroneCAN::safety_state_send()
         switch (hal.util->safety_switch_state()) {
         case AP_HAL::Util::SAFETY_ARMED:
             safety_msg.status = ARDUPILOT_INDICATION_SAFETYSTATE_STATUS_SAFETY_OFF;
+            safety_state.broadcast(safety_msg);
             break;
         case AP_HAL::Util::SAFETY_DISARMED:
             safety_msg.status = ARDUPILOT_INDICATION_SAFETYSTATE_STATUS_SAFETY_ON;
+            safety_state.broadcast(safety_msg);
             break;
         default:
             // nothing to send
             break;
         }
-        safety_state.broadcast(safety_msg);
     }
 
     { // handle ArmingStatus
diff --git a/libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp b/libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp
index 073265d9b5..0a703b7d20 100644
--- a/libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp
+++ b/libraries/AP_DroneCAN/AP_DroneCAN_DNA_Server.cpp
@@ -544,7 +544,7 @@ void AP_DroneCAN_DNA_Server::handleAllocation(const CanardRxTransfer& transfer,
     rcvd_unique_id_offset += msg.unique_id.len;
 
     //send follow up message
-    uavcan_protocol_dynamic_node_id_Allocation rsp;
+    uavcan_protocol_dynamic_node_id_Allocation rsp {};
 
     /* Respond with the message containing the received unique ID so far
     or with node id if we successfully allocated one. */