diff --git a/include/pinocchio/multibody/joint/joint-prismatic-unaligned.hpp b/include/pinocchio/multibody/joint/joint-prismatic-unaligned.hpp
index a8445c89a0..a8098e4fd5 100644
--- a/include/pinocchio/multibody/joint/joint-prismatic-unaligned.hpp
+++ b/include/pinocchio/multibody/joint/joint-prismatic-unaligned.hpp
@@ -496,7 +496,7 @@ namespace pinocchio
     
     typedef Eigen::Matrix<Scalar,3,1,_Options> Vector3;
     
-    JointModelPrismaticUnalignedTpl() {}
+    JointModelPrismaticUnalignedTpl(): axis(Vector3::UnitX()) {}
     JointModelPrismaticUnalignedTpl(const Scalar & x,
                                     const Scalar & y,
                                     const Scalar & z)
diff --git a/include/pinocchio/multibody/joint/joint-revolute-unaligned.hpp b/include/pinocchio/multibody/joint/joint-revolute-unaligned.hpp
index 487a9eff71..871073b778 100644
--- a/include/pinocchio/multibody/joint/joint-revolute-unaligned.hpp
+++ b/include/pinocchio/multibody/joint/joint-revolute-unaligned.hpp
@@ -519,7 +519,7 @@ namespace pinocchio
     using Base::idx_v;
     using Base::setIndexes;
     
-    JointModelRevoluteUnalignedTpl() {}
+    JointModelRevoluteUnalignedTpl(): axis(Vector3::UnitX()) {}
     
     JointModelRevoluteUnalignedTpl(const Scalar & x,
                                    const Scalar & y,
diff --git a/include/pinocchio/multibody/joint/joint-revolute-unbounded-unaligned.hpp b/include/pinocchio/multibody/joint/joint-revolute-unbounded-unaligned.hpp
index 8d61a3030d..01928e653e 100644
--- a/include/pinocchio/multibody/joint/joint-revolute-unbounded-unaligned.hpp
+++ b/include/pinocchio/multibody/joint/joint-revolute-unbounded-unaligned.hpp
@@ -114,7 +114,7 @@ namespace pinocchio
     using Base::idx_v;
     using Base::setIndexes;
     
-    JointModelRevoluteUnboundedUnalignedTpl() {}
+    JointModelRevoluteUnboundedUnalignedTpl(): axis(Vector3::UnitX()) {}
     
     JointModelRevoluteUnboundedUnalignedTpl(const Scalar & x,
                                             const Scalar & y,
diff --git a/include/pinocchio/multibody/liegroup/special-euclidean.hpp b/include/pinocchio/multibody/liegroup/special-euclidean.hpp
index 2e30987d6c..bffd27ab37 100644
--- a/include/pinocchio/multibody/liegroup/special-euclidean.hpp
+++ b/include/pinocchio/multibody/liegroup/special-euclidean.hpp
@@ -222,9 +222,12 @@ namespace pinocchio
                                 const Eigen::MatrixBase<ConfigR_t> & q1,
                                 const Eigen::MatrixBase<Tangent_t> & d)
     {
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Matrix2 R0, R1; Vector2 t0, t1;
       forwardKinematics(R0, t0, q0);
       forwardKinematics(R1, t1, q1);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
       Matrix2 R (R0.transpose() * R1);
       Vector2 t (R0.transpose() * (t1 - t0));
 
@@ -236,9 +239,12 @@ namespace pinocchio
                           const Eigen::MatrixBase<ConfigR_t> & q1,
                           const Eigen::MatrixBase<JacobianOut_t>& J) const
     {
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
       Matrix2 R0, R1; Vector2 t0, t1;
       forwardKinematics(R0, t0, q0);
       forwardKinematics(R1, t1, q1);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
       Matrix2 R (R0.transpose() * R1);
       Vector2 t (R0.transpose() * (t1 - t0));
 
diff --git a/unittest/cartesian-product-liegroups.cpp b/unittest/cartesian-product-liegroups.cpp
index 000767aae8..a035174982 100644
--- a/unittest/cartesian-product-liegroups.cpp
+++ b/unittest/cartesian-product-liegroups.cpp
@@ -72,9 +72,12 @@ struct TestCartesianProduct
     ConfigVector q0 = lg.random();
     ConfigVector q1 = lg.random();
     TangentVector v = TangentVector_t::Random(lg.nv());
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
     ConfigVector qout_ref(lg.nq()), qout(lg.nq());
     lg.integrate(q0, v, qout_ref);
     cp.integrate(q0, v, qout);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
     
     BOOST_CHECK(qout.isApprox(qout_ref));
     
diff --git a/unittest/explog.cpp b/unittest/explog.cpp
index 16cd57c725..0e16d9ebec 100644
--- a/unittest/explog.cpp
+++ b/unittest/explog.cpp
@@ -161,8 +161,11 @@ BOOST_AUTO_TEST_CASE(Jlog3_fd)
   SE3 M(SE3::Random());
   SE3::Matrix3 R (M.rotation());
   
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
   SE3::Matrix3 Jfd, Jlog;
   Jlog3 (R, Jlog);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
   Jfd.setZero();
 
   Motion::Vector3 dR; dR.setZero();
@@ -334,9 +337,12 @@ BOOST_AUTO_TEST_CASE(Jlog3_quat)
   
   SE3::Matrix3 R(quat.toRotationMatrix());
   
+PINOCCHIO_COMPILER_DIAGNOSTIC_PUSH
+PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
   SE3::Matrix3 res, res_ref;
   quaternion::Jlog3(quat,res);
   Jlog3(R,res_ref);
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
   
   BOOST_CHECK(res.isApprox(res_ref));
 }
diff --git a/unittest/spatial.cpp b/unittest/spatial.cpp
index 56608fbc5e..0fec8fd14a 100644
--- a/unittest/spatial.cpp
+++ b/unittest/spatial.cpp
@@ -771,7 +771,6 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_IGNORED_MAYBE_UNINITIALIZED
   
   // motionSet::se3Action
   motionSet::se3Action(jMi,iV,jV);
-PINOCCHIO_COMPILER_DIAGNOSTIC_POP
   for( int k=0;k<N;++k )
     BOOST_CHECK(jMi.act(Motion(iV.col(k))).toVector().isApprox(jV.col(k)));
   
@@ -780,6 +779,7 @@ PINOCCHIO_COMPILER_DIAGNOSTIC_POP
   
   motionSet::se3ActionInverse(jMi.inverse(),iV,jVinv);
   BOOST_CHECK(jVinv.isApprox(jV));
+PINOCCHIO_COMPILER_DIAGNOSTIC_POP
   
   Matrix6N iV2 = Matrix6N::Random();
   jV_ref += jMi.toActionMatrix()*iV2;