diff --git a/mission/controller/acs/MultiplicativeKalmanFilter.cpp b/mission/controller/acs/MultiplicativeKalmanFilter.cpp
index b66f0531..e938b0c4 100644
--- a/mission/controller/acs/MultiplicativeKalmanFilter.cpp
+++ b/mission/controller/acs/MultiplicativeKalmanFilter.cpp
@@ -114,12 +114,12 @@ ReturnValue_t MultiplicativeKalmanFilter::mekfEst(
     return result;
   }
 
-  double measSensMatrix[matrixDimensionFactor][6] = {{0}},
-         measCovMatrix[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
-         measVec[matrixDimensionFactor] = {0}, estVec[matrixDimensionFactor] = {0};
+  double measSensMatrix[matrixDimensionFactor][6] = {},
+         measCovMatrix[matrixDimensionFactor][matrixDimensionFactor] = {},
+         measVec[matrixDimensionFactor] = {}, estVec[matrixDimensionFactor] = {};
   kfUpdate(susData, mgmData, *measSensMatrix, *measCovMatrix, measVec, estVec);
 
-  double kalmanGain[6][matrixDimensionFactor] = {{0}};
+  double kalmanGain[6][matrixDimensionFactor] = {};
   result = kfGain(*measSensMatrix, *measCovMatrix, *kalmanGain, attitudeEstimationData);
   if (result != returnvalue::OK) {
     reset(attitudeEstimationData);
@@ -342,10 +342,10 @@ ReturnValue_t MultiplicativeKalmanFilter::kfGain(
     double *measSensMatrix, double *measCovMatrix, double *kalmanGain,
     acsctrl::AttitudeEstimationData *attitudeEstimationData) {
   // Kalman Gain: K = P * H' / (H * P * H' + R)
-  double kalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
-         invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {{0}},
-         residualCov[6][matrixDimensionFactor] = {{0}},
-         measSensMatrixTransposed[6][matrixDimensionFactor] = {{0}};
+  double kalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {},
+         invKalmanGainDen[matrixDimensionFactor][matrixDimensionFactor] = {},
+         residualCov[6][matrixDimensionFactor] = {},
+         measSensMatrixTransposed[6][matrixDimensionFactor] = {};
 
   MatrixOperations<double>::transpose(measSensMatrix, *measSensMatrixTransposed,
                                       matrixDimensionFactor, 6);
@@ -383,7 +383,7 @@ void MultiplicativeKalmanFilter::kfCovAposteriori(double *kalmanGain, double *me
 void MultiplicativeKalmanFilter::kfStateAposteriori(double *kalmanGain, double *measVec,
                                                     double *estVec) {
   double stateVecErr[6] = {0, 0, 0, 0, 0, 0};
-  double plantOutputDiff[matrixDimensionFactor] = {0};
+  double plantOutputDiff[matrixDimensionFactor] = {};
   VectorOperations<double>::subtract(measVec, estVec, plantOutputDiff, matrixDimensionFactor);
   MatrixOperations<double>::multiply(kalmanGain, plantOutputDiff, stateVecErr, 6,
                                      matrixDimensionFactor, 1);