diff --git a/src/modules/uuv_att_control/uuv_att_control.cpp b/src/modules/uuv_att_control/uuv_att_control.cpp
index dd985c27887..58992ccb780 100644
--- a/src/modules/uuv_att_control/uuv_att_control.cpp
+++ b/src/modules/uuv_att_control/uuv_att_control.cpp
@@ -138,13 +138,6 @@ void UUVAttitudeControl::control_attitude_geo(const vehicle_attitude_s &attitude
 	 */
 	Eulerf euler_angles(matrix::Quatf(attitude.q));
 
-	float roll_u;
-	float pitch_u;
-	float yaw_u;
-	float thrust_x;
-	float thrust_y;
-	float thrust_z;
-
 	float roll_body = attitude_setpoint.roll_body;
 	float pitch_body = attitude_setpoint.pitch_body;
 	float yaw_body = attitude_setpoint.yaw_body;
@@ -186,14 +179,14 @@ void UUVAttitudeControl::control_attitude_geo(const vehicle_attitude_s &attitude
 	torques(1) = torques(1) - omega(1) * _param_pitch_d.get(); /**< Pitch */
 	torques(2) = torques(2) - omega(2) * _param_yaw_d.get();   /**< Yaw   */
 
-	roll_u = torques(0);
-	pitch_u = torques(1);
-	yaw_u = torques(2);
+	float roll_u = torques(0);
+	float pitch_u = torques(1);
+	float yaw_u = torques(2);
 
 	// take thrust as
-	thrust_x = attitude_setpoint.thrust_body[0];
-	thrust_y = attitude_setpoint.thrust_body[1];
-	thrust_z = attitude_setpoint.thrust_body[2];
+	float thrust_x = attitude_setpoint.thrust_body[0];
+	float thrust_y = attitude_setpoint.thrust_body[1];
+	float thrust_z = attitude_setpoint.thrust_body[2];
 
 
 	constrain_actuator_commands(roll_u, pitch_u, yaw_u, thrust_x, thrust_y, thrust_z);