diff --git a/src/mpc_tracker/mpc_tracker.cpp b/src/mpc_tracker/mpc_tracker.cpp
index 7ff7e2c..d81ac2d 100644
--- a/src/mpc_tracker/mpc_tracker.cpp
+++ b/src/mpc_tracker/mpc_tracker.cpp
@@ -173,7 +173,7 @@ class MpcTracker : public mrs_uav_managers::Tracker {
   std::shared_ptr<VectorXd> des_y_whole_trajectory_;
   std::shared_ptr<VectorXd> des_z_whole_trajectory_;
   std::shared_ptr<VectorXd> des_heading_whole_trajectory_;
-  int                       des_whole_trajectory_id_;
+  int                       des_whole_trajectory_id_ = 0;
   std::mutex                mutex_des_whole_trajectory_;
 
   // trajectory tracking