diff --git a/Makefile b/Makefile
index abe9c8f342..8dc03b27de 100755
--- a/Makefile
+++ b/Makefile
@@ -295,6 +295,12 @@ tests_coverage:
 test_startup_shutdown:
 	@$(call PX4_RUN,$(MAKE) --no-print-directory posix_sitl_test gazebo_standard_vtol HEADLESS=1 MEMORY_DEBUG=1)
 
+scan-build:
+	export CCACHE_DISABLE=1
+	mkdir -p $(SRC_DIR)/build_posix_sitl_default_scan-build
+	cd $(SRC_DIR)/build_posix_sitl_default_scan-build && scan-build cmake .. -GNinja -DCONFIG=posix_sitl_default
+	scan-build cmake --build $(SRC_DIR)/build_posix_sitl_default_scan-build
+
 package_firmware:
 	@zip --junk-paths Firmware.zip `find Binaries/. -name \*.px4`
 
diff --git a/src/modules/commander/accelerometer_calibration.cpp b/src/modules/commander/accelerometer_calibration.cpp
index ae9925eff6..d6e79e2462 100644
--- a/src/modules/commander/accelerometer_calibration.cpp
+++ b/src/modules/commander/accelerometer_calibration.cpp
@@ -242,7 +242,7 @@ int do_accel_calibration(orb_advert_t *mavlink_log_pub)
 
 	float accel_offs[max_accel_sens][3];
 	float accel_T[max_accel_sens][3][3];
-	unsigned active_sensors;
+	unsigned active_sensors = 0;
 
 	/* measure and calculate offsets & scales */
 	if (res == PX4_OK) {