diff --git a/hal/include/HAL/HAL.hpp b/hal/include/HAL/HAL.hpp
index bf95599b23..60cad32ab7 100644
--- a/hal/include/HAL/HAL.hpp
+++ b/hal/include/HAL/HAL.hpp
@@ -230,7 +230,7 @@ extern "C"
 	int HALGetJoystickDescriptor(uint8_t joystickNum, HALJoystickDescriptor *desc);
 	int HALGetJoystickIsXbox(uint8_t joystickNum);
 	int HALGetJoystickType(uint8_t joystickNum);
-	const char* HALGetJoystickName(uint8_t joystickNum);
+	char* HALGetJoystickName(uint8_t joystickNum);
 	int HALGetJoystickAxisType(uint8_t joystickNum, uint8_t axis);
 	int HALSetJoystickOutputs(uint8_t joystickNum, uint32_t outputs, uint16_t leftRumble, uint16_t rightRumble);
 	int HALGetMatchTime(float *matchTime);
diff --git a/hal/lib/Athena/Analog.cpp b/hal/lib/Athena/Analog.cpp
index 5a45178736..e56d6585dc 100644
--- a/hal/lib/Athena/Analog.cpp
+++ b/hal/lib/Athena/Analog.cpp
@@ -273,7 +273,9 @@ uint32_t getAnalogOversampleBits(void* analog_port_pointer, int32_t *status) {
 int16_t getAnalogValue(void* analog_port_pointer, int32_t *status) {
   AnalogPort* port = (AnalogPort*) analog_port_pointer;
   int16_t value;
-  checkAnalogInputChannel(port->port.pin);
+  if (!checkAnalogInputChannel(port->port.pin)) {
+    return 0;
+  }
 
   tAI::tReadSelect readSelect;
   readSelect.Channel = port->port.pin;
@@ -304,7 +306,9 @@ int16_t getAnalogValue(void* analog_port_pointer, int32_t *status) {
 int32_t getAnalogAverageValue(void* analog_port_pointer, int32_t *status) {
   AnalogPort* port = (AnalogPort*) analog_port_pointer;
   int32_t value;
-  checkAnalogInputChannel(port->port.pin);
+  if (!checkAnalogInputChannel(port->port.pin)) {
+    return 0;
+  }
 
   tAI::tReadSelect readSelect;
   readSelect.Channel = port->port.pin;
diff --git a/hal/lib/Athena/Digital.cpp b/hal/lib/Athena/Digital.cpp
index 801a6a3287..c99aecca37 100644
--- a/hal/lib/Athena/Digital.cpp
+++ b/hal/lib/Athena/Digital.cpp
@@ -126,11 +126,11 @@ void initializeDigital(int32_t *status) {
   // Ensure that PWM output values are set to OFF
   for (uint32_t pwm_index = 0; pwm_index < kPwmPins; pwm_index++) {
     // Initialize port structure
-    DigitalPort* digital_port = new DigitalPort();
-    digital_port->port.pin = pwm_index;
+    DigitalPort digital_port;
+    digital_port.port.pin = pwm_index;
 
-    setPWM(digital_port, kPwmDisabled, status);
-    setPWMPeriodScale(digital_port, 3, status); // Set all to 4x by default.
+    setPWM(&digital_port, kPwmDisabled, status);
+    setPWMPeriodScale(&digital_port, 3, status); // Set all to 4x by default.
   }
 
   digitalSystemsInitialized = true;
diff --git a/hal/lib/Athena/ctre/PCM.cpp b/hal/lib/Athena/ctre/PCM.cpp
index cd23f3c5ed..58f8bc9002 100644
--- a/hal/lib/Athena/ctre/PCM.cpp
+++ b/hal/lib/Athena/ctre/PCM.cpp
@@ -209,7 +209,7 @@ CTR_Code PCM::FireOneShotSolenoid(UINT8 idx)
 CTR_Code PCM::SetOneShotDurationMs(UINT8 idx,uint32_t durMs)
 {
 	/* sanity check caller's param */
-	if(idx > 8)
+	if(idx > 7)
 		return CTR_InvalidParamValue;
 	/* get latest tx frame */
 	CtreCanNode::txTask<PcmControlSetOneShotDur_t> toFill = GetTx<PcmControlSetOneShotDur_t>(CONTROL_3 | GetDeviceNumber());
diff --git a/hal/lib/Shared/HAL.cpp b/hal/lib/Shared/HAL.cpp
index 886ba423e4..978127842c 100644
--- a/hal/lib/Shared/HAL.cpp
+++ b/hal/lib/Shared/HAL.cpp
@@ -1,6 +1,7 @@
 //This file must compile on ALL PLATFORMS. Be very careful what you put in here.
 #include "HAL/HAL.hpp"
 #include "FRC_NetworkCommunication/FRCComm.h"
+#include <cstring>
 
 int HALGetControlWord(HALControlWord *data)
 {
@@ -62,17 +63,20 @@ int HALGetJoystickType(uint8_t joystickNum)
 	}
 }
 
-const char* HALGetJoystickName(uint8_t joystickNum)
+char* HALGetJoystickName(uint8_t joystickNum)
 {
 	HALJoystickDescriptor joystickDesc;
 	if(HALGetJoystickDescriptor(joystickNum, &joystickDesc)<0)
 	{
-		const char* retval = "";
-		return retval;
+		char* name = (char*)std::malloc(1);
+		name[0] = '\0';
+		return name;
 	} else
 	{
-	const char* retval(joystickDesc.name);
-	return retval;
+		size_t len = std::strlen(joystickDesc.name);
+		char* name = (char*)std::malloc(len+1);
+		std::strcpy(name, joystickDesc.name);
+		return name;
 	}
 }
 
diff --git a/wpilibc/Athena/include/AnalogAccelerometer.h b/wpilibc/Athena/include/AnalogAccelerometer.h
index 4dc5cb77aa..dee50e19f8 100644
--- a/wpilibc/Athena/include/AnalogAccelerometer.h
+++ b/wpilibc/Athena/include/AnalogAccelerometer.h
@@ -53,7 +53,6 @@ class AnalogAccelerometer : public SensorBase,
   std::shared_ptr<AnalogInput> m_analogInput;
   float m_voltsPerG = 1.0;
   float m_zeroGVoltage = 2.5;
-  bool m_allocatedChannel;
 
   std::shared_ptr<ITable> m_table;
 };
diff --git a/wpilibc/Athena/include/AnalogOutput.h b/wpilibc/Athena/include/AnalogOutput.h
index db02d838fe..c30b5c7151 100644
--- a/wpilibc/Athena/include/AnalogOutput.h
+++ b/wpilibc/Athena/include/AnalogOutput.h
@@ -11,6 +11,7 @@
 #include "SensorBase.h"
 #include "LiveWindow/LiveWindowSendable.h"
 #include <memory>
+#include <cstdint>
 
 /**
  * MXP analog output class.
diff --git a/wpilibc/Athena/include/AnalogPotentiometer.h b/wpilibc/Athena/include/AnalogPotentiometer.h
index 37007669b6..01c29d9cf5 100644
--- a/wpilibc/Athena/include/AnalogPotentiometer.h
+++ b/wpilibc/Athena/include/AnalogPotentiometer.h
@@ -87,5 +87,4 @@ class AnalogPotentiometer : public Potentiometer, public LiveWindowSendable {
   std::shared_ptr<AnalogInput> m_analog_input;
   double m_fullRange, m_offset;
   std::shared_ptr<ITable> m_table;
-  bool m_init_analog_input;
 };
diff --git a/wpilibc/Athena/include/CANJaguar.h b/wpilibc/Athena/include/CANJaguar.h
index b6eebf623c..5d05d47902 100644
--- a/wpilibc/Athena/include/CANJaguar.h
+++ b/wpilibc/Athena/include/CANJaguar.h
@@ -177,7 +177,7 @@ class CANJaguar : public MotorSafety,
   float m_value = 0.0f;
 
   // Parameters/configuration
-  ControlMode m_controlMode;
+  ControlMode m_controlMode = kPercentVbus;
   uint8_t m_speedReference = LM_REF_NONE;
   uint8_t m_positionReference = LM_REF_NONE;
   double m_p = 0.0;
@@ -227,7 +227,7 @@ class CANJaguar : public MotorSafety,
   mutable std::atomic<bool> m_receivedStatusMessage1{false};
   mutable std::atomic<bool> m_receivedStatusMessage2{false};
 
-  bool m_controlEnabled;
+  bool m_controlEnabled = false;
 
   void verify();
 
diff --git a/wpilibc/Athena/include/DigitalInput.h b/wpilibc/Athena/include/DigitalInput.h
index d47693c863..17a0411395 100644
--- a/wpilibc/Athena/include/DigitalInput.h
+++ b/wpilibc/Athena/include/DigitalInput.h
@@ -10,6 +10,7 @@
 #include "LiveWindow/LiveWindowSendable.h"
 
 #include <memory>
+#include <cstdint>
 
 /**
  * Class to read a digital input.
diff --git a/wpilibc/Athena/include/InterruptableSensorBase.h b/wpilibc/Athena/include/InterruptableSensorBase.h
index b595c8d46a..d77ae2f048 100644
--- a/wpilibc/Athena/include/InterruptableSensorBase.h
+++ b/wpilibc/Athena/include/InterruptableSensorBase.h
@@ -45,7 +45,7 @@ class InterruptableSensorBase : public SensorBase {
 
  protected:
   void *m_interrupt = nullptr;
-  uint32_t m_interruptIndex;
+  uint32_t m_interruptIndex = std::numeric_limits<uint32_t>::max();
   void AllocateInterrupts(bool watcher);
 
   static std::unique_ptr<Resource> m_interrupts;
diff --git a/wpilibc/Athena/include/SPI.h b/wpilibc/Athena/include/SPI.h
index ce29d6c18c..1e7d53d0b5 100644
--- a/wpilibc/Athena/include/SPI.h
+++ b/wpilibc/Athena/include/SPI.h
@@ -49,9 +49,9 @@ class SPI : public SensorBase {
 
  protected:
   uint8_t m_port;
-  bool m_msbFirst;
-  bool m_sampleOnTrailing;
-  bool m_clk_idle_high;
+  bool m_msbFirst = false; // default little-endian
+  bool m_sampleOnTrailing = false; // default data updated on falling edge
+  bool m_clk_idle_high = false; // default clock active high
 
  private:
   void Init();
diff --git a/wpilibc/Athena/include/Ultrasonic.h b/wpilibc/Athena/include/Ultrasonic.h
index e4ba573657..03c9e39cec 100644
--- a/wpilibc/Athena/include/Ultrasonic.h
+++ b/wpilibc/Athena/include/Ultrasonic.h
@@ -101,8 +101,7 @@ class Ultrasonic : public SensorBase,
 
   std::shared_ptr<DigitalOutput> m_pingChannel;
   std::shared_ptr<DigitalInput> m_echoChannel;
-  bool m_allocatedChannels;
-  bool m_enabled;
+  bool m_enabled = false;
   Counter m_counter;
   Ultrasonic *m_nextSensor;
   DistanceUnit m_units;
diff --git a/wpilibc/Athena/src/AnalogGyro.cpp b/wpilibc/Athena/src/AnalogGyro.cpp
index 2a4c3f2c00..7b5dbc115c 100644
--- a/wpilibc/Athena/src/AnalogGyro.cpp
+++ b/wpilibc/Athena/src/AnalogGyro.cpp
@@ -88,7 +88,10 @@ AnalogGyro::AnalogGyro(std::shared_ptr<AnalogInput> channel)
  * significant
  * drift in the gyro and it needs to be recalibrated after it has been running.
  */
-void AnalogGyro::Reset() { m_analog->ResetAccumulator(); }
+void AnalogGyro::Reset() {
+  if (StatusIsFatal()) return;
+  m_analog->ResetAccumulator();
+}
 
 /**
  * {@inheritDoc}
@@ -127,6 +130,8 @@ void AnalogGyro::Calibrate() {
  * of the returned rate from the gyro.
  */
 float AnalogGyro::GetAngle() const {
+  if (StatusIsFatal()) return 0.f;
+
   int64_t rawValue;
   uint32_t count;
   m_analog->GetAccumulatorOutput(rawValue, count);
@@ -148,6 +153,8 @@ float AnalogGyro::GetAngle() const {
  * @return the current rate in degrees per second
  */
 double AnalogGyro::GetRate() const {
+  if (StatusIsFatal()) return 0.0;
+
   return (m_analog->GetAverageValue() - ((double)m_center + m_offset)) * 1e-9 *
          m_analog->GetLSBWeight() /
          ((1 << m_analog->GetOversampleBits()) * m_voltsPerDegreePerSecond);
@@ -176,6 +183,8 @@ void AnalogGyro::SetSensitivity(float voltsPerDegreePerSecond) {
  * @param volts The size of the deadband in volts
  */
 void AnalogGyro::SetDeadband(float volts) {
+  if (StatusIsFatal()) return;
+
   int32_t deadband = volts * 1e9 / m_analog->GetLSBWeight() *
                      (1 << m_analog->GetOversampleBits());
   m_analog->SetAccumulatorDeadband(deadband);
diff --git a/wpilibc/Athena/src/AnalogInput.cpp b/wpilibc/Athena/src/AnalogInput.cpp
index 540c84ef5b..09ef75f6b7 100644
--- a/wpilibc/Athena/src/AnalogInput.cpp
+++ b/wpilibc/Athena/src/AnalogInput.cpp
@@ -10,6 +10,7 @@
 #include "Timer.h"
 #include "WPIErrors.h"
 #include "LiveWindow/LiveWindow.h"
+#include "HAL/Port.h"
 
 #include <sstream>
 
@@ -43,10 +44,11 @@ AnalogInput::AnalogInput(uint32_t channel) {
 
   m_channel = channel;
 
-  void *port = getPort(channel);
+  void* port = getPort(channel);
   int32_t status = 0;
   m_port = initializeAnalogInputPort(port, &status);
   wpi_setErrorWithContext(status, getHALErrorMessage(status));
+  freePort(port);
 
   LiveWindow::GetInstance()->AddSensor("AnalogInput", channel, this);
   HALReport(HALUsageReporting::kResourceType_AnalogChannel, channel);
diff --git a/wpilibc/Athena/src/AnalogOutput.cpp b/wpilibc/Athena/src/AnalogOutput.cpp
index 4905e824a0..74a1f9cc1b 100644
--- a/wpilibc/Athena/src/AnalogOutput.cpp
+++ b/wpilibc/Athena/src/AnalogOutput.cpp
@@ -9,7 +9,9 @@
 #include "Resource.h"
 #include "WPIErrors.h"
 #include "LiveWindow/LiveWindow.h"
+#include "HAL/Port.h"
 
+#include <limits>
 #include <sstream>
 
 static std::unique_ptr<Resource> outputs;
@@ -27,21 +29,26 @@ AnalogOutput::AnalogOutput(uint32_t channel) {
 
   if (!checkAnalogOutputChannel(channel)) {
     wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+    m_channel = std::numeric_limits<uint32_t>::max();
+    m_port = nullptr;
     return;
   }
 
   if (outputs->Allocate(channel, buf.str()) ==
       std::numeric_limits<uint32_t>::max()) {
     CloneError(*outputs);
+    m_channel = std::numeric_limits<uint32_t>::max();
+    m_port = nullptr;
     return;
   }
 
   m_channel = channel;
 
-  void *port = getPort(m_channel);
+  void* port = getPort(m_channel);
   int32_t status = 0;
   m_port = initializeAnalogOutputPort(port, &status);
   wpi_setErrorWithContext(status, getHALErrorMessage(status));
+  freePort(port);
 
   LiveWindow::GetInstance()->AddActuator("AnalogOutput", m_channel, this);
   HALReport(HALUsageReporting::kResourceType_AnalogOutput, m_channel);
diff --git a/wpilibc/Athena/src/AnalogTrigger.cpp b/wpilibc/Athena/src/AnalogTrigger.cpp
index 47260e2984..cbe627bcf2 100644
--- a/wpilibc/Athena/src/AnalogTrigger.cpp
+++ b/wpilibc/Athena/src/AnalogTrigger.cpp
@@ -11,6 +11,8 @@
 //#include "NetworkCommunication/UsageReporting.h"
 #include "Resource.h"
 #include "WPIErrors.h"
+#include "HAL/Port.h"
+
 #include <memory>
 
 /**
@@ -20,11 +22,12 @@
  * on-board 4-7 are on the MXP port.
  */
 AnalogTrigger::AnalogTrigger(int32_t channel) {
-  void *port = getPort(channel);
+  void* port = getPort(channel);
   int32_t status = 0;
   uint32_t index = 0;
   m_trigger = initializeAnalogTrigger(port, &index, &status);
   wpi_setErrorWithContext(status, getHALErrorMessage(status));
+  freePort(port);
   m_index = index;
 
   HALReport(HALUsageReporting::kResourceType_AnalogTrigger, channel);
diff --git a/wpilibc/Athena/src/CameraServer.cpp b/wpilibc/Athena/src/CameraServer.cpp
index 8565edad7b..af319a4249 100644
--- a/wpilibc/Athena/src/CameraServer.cpp
+++ b/wpilibc/Athena/src/CameraServer.cpp
@@ -149,7 +149,10 @@ unsigned int CameraServer::GetQuality() {
 void CameraServer::Serve() {
   int sock = socket(AF_INET, SOCK_STREAM, 0);
 
-  if (sock == -1) wpi_setErrnoError();
+  if (sock == -1) {
+    wpi_setErrnoError();
+    return;
+  }
 
   int reuseAddr = 1;
   if (setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, &reuseAddr,
diff --git a/wpilibc/Athena/src/DigitalInput.cpp b/wpilibc/Athena/src/DigitalInput.cpp
index acbe186854..e525cc058f 100644
--- a/wpilibc/Athena/src/DigitalInput.cpp
+++ b/wpilibc/Athena/src/DigitalInput.cpp
@@ -11,6 +11,7 @@
 #include "WPIErrors.h"
 #include "LiveWindow/LiveWindow.h"
 
+#include <limits>
 #include <sstream>
 
 /**
@@ -25,6 +26,7 @@ DigitalInput::DigitalInput(uint32_t channel) {
   if (!CheckDigitalChannel(channel)) {
     buf << "Digital Channel " << channel;
     wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+    m_channel = std::numeric_limits<uint32_t>::max();
     return;
   }
   m_channel = channel;
diff --git a/wpilibc/Athena/src/DigitalOutput.cpp b/wpilibc/Athena/src/DigitalOutput.cpp
index 7e4bfee457..bc361c8a86 100644
--- a/wpilibc/Athena/src/DigitalOutput.cpp
+++ b/wpilibc/Athena/src/DigitalOutput.cpp
@@ -9,6 +9,7 @@
 #include "Resource.h"
 #include "WPIErrors.h"
 
+#include <limits>
 #include <sstream>
 
 /**
@@ -21,13 +22,14 @@
 DigitalOutput::DigitalOutput(uint32_t channel) {
   std::stringstream buf;
 
+  m_pwmGenerator = (void *)std::numeric_limits<uint32_t>::max();
   if (!CheckDigitalChannel(channel)) {
     buf << "Digital Channel " << channel;
     wpi_setWPIErrorWithContext(ChannelIndexOutOfRange, buf.str());
+    m_channel = std::numeric_limits<uint32_t>::max();
     return;
   }
   m_channel = channel;
-  m_pwmGenerator = (void *)std::numeric_limits<uint32_t>::max();
 
   int32_t status = 0;
   allocateDIO(m_digital_ports[channel], false, &status);
diff --git a/wpilibc/Athena/src/PIDController.cpp b/wpilibc/Athena/src/PIDController.cpp
index ed73b54700..fdbbb5aac2 100644
--- a/wpilibc/Athena/src/PIDController.cpp
+++ b/wpilibc/Athena/src/PIDController.cpp
@@ -107,7 +107,6 @@ void PIDController::Calculate() {
     pidInput = m_pidInput;
     pidOutput = m_pidOutput;
     enabled = m_enabled;
-    pidInput = m_pidInput;
   }
 
   if (pidInput == nullptr) return;
diff --git a/wpilibc/Athena/src/RobotBase.cpp b/wpilibc/Athena/src/RobotBase.cpp
index f5b82dde73..f6a73a41ac 100644
--- a/wpilibc/Athena/src/RobotBase.cpp
+++ b/wpilibc/Athena/src/RobotBase.cpp
@@ -56,8 +56,10 @@ RobotBase::RobotBase() : m_ds(DriverStation::GetInstance()) {
   FILE *file = nullptr;
   file = fopen("/tmp/frc_versions/FRC_Lib_Version.ini", "w");
 
-  fputs("2016 C++ Beta2.0", file);
-  if (file != nullptr) fclose(file);
+  if (file != nullptr) {
+    fputs("2016 C++ Beta2.0", file);
+    fclose(file);
+  }
 }
 
 /**
diff --git a/wpilibc/Athena/src/SensorBase.cpp b/wpilibc/Athena/src/SensorBase.cpp
index 26b06981de..05f9f4fe69 100644
--- a/wpilibc/Athena/src/SensorBase.cpp
+++ b/wpilibc/Athena/src/SensorBase.cpp
@@ -10,6 +10,7 @@
 #include "NetworkCommunication/LoadOut.h"
 #include "WPIErrors.h"
 #include "HAL/HAL.hpp"
+#include "HAL/Port.h"
 
 const uint32_t SensorBase::kDigitalChannels;
 const uint32_t SensorBase::kAnalogInputs;
@@ -36,6 +37,7 @@ SensorBase::SensorBase() {
       int32_t status = 0;
       m_digital_ports[i] = initializeDigitalPort(port, &status);
       wpi_setErrorWithContext(status, getHALErrorMessage(status));
+      freePort(port);
     }
 
     for (uint32_t i = 0; i < kRelayChannels; i++) {
@@ -43,6 +45,7 @@ SensorBase::SensorBase() {
       int32_t status = 0;
       m_relay_ports[i] = initializeDigitalPort(port, &status);
       wpi_setErrorWithContext(status, getHALErrorMessage(status));
+      freePort(port);
     }
 
     for (uint32_t i = 0; i < kPwmChannels; i++) {
@@ -50,6 +53,7 @@ SensorBase::SensorBase() {
       int32_t status = 0;
       m_pwm_ports[i] = initializeDigitalPort(port, &status);
       wpi_setErrorWithContext(status, getHALErrorMessage(status));
+      freePort(port);
     }
   }
 }
diff --git a/wpilibc/Athena/src/SolenoidBase.cpp b/wpilibc/Athena/src/SolenoidBase.cpp
index 0f06f94241..e063c8e539 100644
--- a/wpilibc/Athena/src/SolenoidBase.cpp
+++ b/wpilibc/Athena/src/SolenoidBase.cpp
@@ -21,6 +21,7 @@ SolenoidBase::SolenoidBase(uint8_t moduleNumber)
     SolenoidBase::m_ports[moduleNumber][i] =
         initializeSolenoidPort(port, &status);
     wpi_setErrorWithContext(status, getHALErrorMessage(status));
+    freePort(port);
   }
 }
 
diff --git a/wpilibc/Athena/src/Ultrasonic.cpp b/wpilibc/Athena/src/Ultrasonic.cpp
index c2a53f3fd5..69ed10d0af 100644
--- a/wpilibc/Athena/src/Ultrasonic.cpp
+++ b/wpilibc/Athena/src/Ultrasonic.cpp
@@ -126,6 +126,8 @@ Ultrasonic::Ultrasonic(DigitalOutput *pingChannel, DigitalInput *echoChannel,
       m_counter(m_echoChannel) {
   if (pingChannel == nullptr || echoChannel == nullptr) {
     wpi_setWPIError(NullParameter);
+    m_nextSensor = nullptr;
+    m_units = units;
     return;
   }
   m_units = units;
diff --git a/wpilibc/Athena/src/Vision/AxisCamera.cpp b/wpilibc/Athena/src/Vision/AxisCamera.cpp
index 38552c9945..990c68ab59 100644
--- a/wpilibc/Athena/src/Vision/AxisCamera.cpp
+++ b/wpilibc/Athena/src/Vision/AxisCamera.cpp
@@ -117,8 +117,10 @@ HSLImage *AxisCamera::GetImage() {
 int AxisCamera::CopyJPEG(char **destImage, unsigned int &destImageSize,
                          unsigned int &destImageBufferSize) {
   std::lock_guard<priority_mutex> lock(m_imageDataMutex);
-  if (destImage == nullptr)
+  if (destImage == nullptr) {
     wpi_setWPIErrorWithContext(NullParameter, "destImage must not be nullptr");
+    return 0;
+  }
 
   if (m_imageData.size() == 0) return 0;  // if no source image
 
@@ -440,6 +442,7 @@ void AxisCamera::ReadImagesFromCamera() {
       wpi_setWPIErrorWithContext(IncompatibleMode,
                                  "No content-length token found in packet");
       close(m_cameraSocket);
+      if (imgBuffer) delete[] imgBuffer;
       return;
     }
     contentLength = contentLength + 16;    // skip past "content length"
@@ -564,8 +567,10 @@ int AxisCamera::CreateCameraSocket(std::string const &requestString,
   }
 
   if (getaddrinfo(m_cameraHost.c_str(), "80", nullptr, &address) == -1) {
-    if (setError)
+    if (setError) {
       wpi_setErrnoErrorWithContext("Failed to create the camera socket");
+      close(camSocket);
+    }
     return -1;
   }
 
@@ -573,10 +578,13 @@ int AxisCamera::CreateCameraSocket(std::string const &requestString,
   if (connect(camSocket, address->ai_addr, address->ai_addrlen) == -1) {
     if (setError)
       wpi_setErrnoErrorWithContext("Failed to connect to the camera");
+    freeaddrinfo(address);
     close(camSocket);
     return -1;
   }
 
+  freeaddrinfo(address);
+
   int sent = send(camSocket, requestString.c_str(), requestString.size(), 0);
   if (sent == -1) {
     if (setError)
diff --git a/wpilibc/Athena/src/Vision/BaeUtilities.cpp b/wpilibc/Athena/src/Vision/BaeUtilities.cpp
index e1c28946c9..f09ec646bc 100644
--- a/wpilibc/Athena/src/Vision/BaeUtilities.cpp
+++ b/wpilibc/Athena/src/Vision/BaeUtilities.cpp
@@ -69,6 +69,7 @@ void dprintf(const char *tempString, ...) /* Variable argument list */
   for (index = 0; index < tempStringLen; index++) {
     if (tempString[index] == ' ') {
       printf("ERROR in dprintf: malformed calling sequence (%s)\n", tempString);
+      va_end(args);
       return;
     }
     if (tempString[index] == '\\' || tempString[index] == '/')
@@ -292,6 +293,7 @@ int processFile(char *inputFile, char *outputString, int lineNumber) {
   FILE *infile;
   const int stringSize = 80;  // max size of one line in file
   char inputStr[stringSize];
+  inputStr[0] = '\0';
   int lineCount = 0;
 
   if (lineNumber < 0) return (-1);
@@ -323,14 +325,10 @@ int processFile(char *inputFile, char *outputString, int lineNumber) {
   if (lineNumber == 0) return (lineCount);
   // check for input out of range
   if (lineNumber > lineCount) return (-1);
-  // return the line selected
-  if (lineCount) {
-    stripString(inputStr);
-    strcpy(outputString, inputStr);
-    return (lineCount);
-  } else {
-    return (-1);
-  }
+  // return the line selected; lineCount guaranteed to be greater than zero
+  stripString(inputStr);
+  strcpy(outputString, inputStr);
+  return (lineCount);
 }
 
 /** Ignore empty string
diff --git a/wpilibc/Athena/src/Vision/VisionAPI.cpp b/wpilibc/Athena/src/Vision/VisionAPI.cpp
index 32bab7f48e..163721da3c 100644
--- a/wpilibc/Athena/src/Vision/VisionAPI.cpp
+++ b/wpilibc/Athena/src/Vision/VisionAPI.cpp
@@ -70,6 +70,7 @@ int frcDispose(const char* functionName, ...) /* Variable argument list */
     }
     disposalPtr = va_arg(disposalPtrList, void*);
   }
+  va_end(disposalPtrList);
   return returnValue;
 }
 
diff --git a/wpilibc/shared/include/Commands/CommandGroupEntry.h b/wpilibc/shared/include/Commands/CommandGroupEntry.h
index 41d1cbe201..442a02c0be 100644
--- a/wpilibc/shared/include/Commands/CommandGroupEntry.h
+++ b/wpilibc/shared/include/Commands/CommandGroupEntry.h
@@ -22,7 +22,7 @@ class CommandGroupEntry {
   CommandGroupEntry(Command *command, Sequence state, double timeout = -1.0);
   bool IsTimedOut() const;
 
-  double m_timeout;
+  double m_timeout = -1.0;
   Command *m_command = nullptr;
   Sequence m_state = kSequence_InSequence;
 };
diff --git a/wpilibc/shared/include/LiveWindow/LiveWindow.h b/wpilibc/shared/include/LiveWindow/LiveWindow.h
index e70b82d68c..1f216ab294 100644
--- a/wpilibc/shared/include/LiveWindow/LiveWindow.h
+++ b/wpilibc/shared/include/LiveWindow/LiveWindow.h
@@ -11,7 +11,7 @@
 struct LiveWindowComponent {
   std::string subsystem;
   std::string name;
-  bool isSensor;
+  bool isSensor = false;
 
   LiveWindowComponent() = default;
   LiveWindowComponent(std::string subsystem, std::string name, bool isSensor) {
diff --git a/wpilibc/shared/include/PIDController.h b/wpilibc/shared/include/PIDController.h
index cc20c457a0..301356cbb3 100644
--- a/wpilibc/shared/include/PIDController.h
+++ b/wpilibc/shared/include/PIDController.h
@@ -93,7 +93,6 @@ class PIDController : public LiveWindowSendable,
   float m_minimumInput = 0;   // minimum input - limit setpoint to this
   bool m_continuous = false;      // do the endpoints wrap around? eg. Absolute encoder
   bool m_enabled = false;  // is the pid controller enabled
-  bool m_destruct;    // should the calculate thread stop running
   float m_prevInput = 0;  // the prior sensor input (used to compute velocity)
   double m_totalError = 0;  // the sum of the errors for use in the integral calc
   enum {
@@ -105,7 +104,7 @@ class PIDController : public LiveWindowSendable,
   // the percetage or absolute error that is considered on target.
   float m_tolerance = 0.05;
   float m_setpoint = 0;
-  float m_error;
+  float m_error = 0;
   float m_result = 0;
   float m_period;
 
diff --git a/wpilibc/shared/include/SensorBase.h b/wpilibc/shared/include/SensorBase.h
index e3742406c5..8638b5eaa9 100644
--- a/wpilibc/shared/include/SensorBase.h
+++ b/wpilibc/shared/include/SensorBase.h
@@ -56,5 +56,5 @@ class SensorBase : public ErrorBase {
 
  private:
   static SensorBase* m_singletonList;
-  SensorBase* m_nextSingleton;
+  SensorBase* m_nextSingleton = nullptr;
 };
diff --git a/wpilibc/shared/src/LiveWindow/LiveWindow.cpp b/wpilibc/shared/src/LiveWindow/LiveWindow.cpp
index 6984e48b7d..793ddcc8ef 100644
--- a/wpilibc/shared/src/LiveWindow/LiveWindow.cpp
+++ b/wpilibc/shared/src/LiveWindow/LiveWindow.cpp
@@ -136,11 +136,7 @@ void LiveWindow::AddSensor(std::string type, int channel,
                            LiveWindowSendable *component) {
   std::ostringstream oss;
   oss << type << "[" << channel << "]";
-  std::string types(oss.str());
-  auto cc = new char[types.size() + 1];
-  types.copy(cc, types.size());
-  cc[types.size()] = '\0';
-  AddSensor("Ungrouped", cc, component);
+  AddSensor("Ungrouped", oss.str(), component);
   std::shared_ptr<LiveWindowSendable> component_stl(
       component, NullDeleter<LiveWindowSendable>());
   if (std::find(m_sensors.begin(), m_sensors.end(), component_stl) ==
@@ -155,12 +151,8 @@ void LiveWindow::AddActuator(std::string type, int channel,
                              LiveWindowSendable *component) {
   std::ostringstream oss;
   oss << type << "[" << channel << "]";
-  std::string types(oss.str());
-  auto cc = new char[types.size() + 1];
-  types.copy(cc, types.size());
-  cc[types.size()] = '\0';
-  AddActuator("Ungrouped", cc, std::shared_ptr<LiveWindowSendable>(
-                                   component, [](LiveWindowSendable *) {}));
+  AddActuator("Ungrouped", oss.str(), std::shared_ptr<LiveWindowSendable>(
+                                      component, [](LiveWindowSendable *) {}));
 }
 
 /**
@@ -170,12 +162,8 @@ void LiveWindow::AddActuator(std::string type, int module, int channel,
                              LiveWindowSendable *component) {
   std::ostringstream oss;
   oss << type << "[" << module << "," << channel << "]";
-  std::string types(oss.str());
-  auto cc = new char[types.size() + 1];
-  types.copy(cc, types.size());
-  cc[types.size()] = '\0';
-  AddActuator("Ungrouped", cc, std::shared_ptr<LiveWindowSendable>(
-                                   component, [](LiveWindowSendable *) {}));
+  AddActuator("Ungrouped", oss.str(), std::shared_ptr<LiveWindowSendable>(
+                                      component, [](LiveWindowSendable *) {}));
 }
 
 /**
diff --git a/wpilibj/src/athena/cpp/lib/FRCNetworkCommunicationsLibrary.cpp b/wpilibj/src/athena/cpp/lib/FRCNetworkCommunicationsLibrary.cpp
index 545bd39b69..4a163bd061 100644
--- a/wpilibj/src/athena/cpp/lib/FRCNetworkCommunicationsLibrary.cpp
+++ b/wpilibj/src/athena/cpp/lib/FRCNetworkCommunicationsLibrary.cpp
@@ -390,7 +390,10 @@ JNIEXPORT jstring JNICALL Java_edu_wpi_first_wpilibj_communication_FRCNetworkCom
   (JNIEnv * env, jclass, jbyte port)
   {
 	NETCOMM_LOG(logDEBUG) << "Calling HALGetJoystickName";
-	return env->NewStringUTF(HALGetJoystickName(port));
+	char* joystickName = HALGetJoystickName(port);
+	jstring str = env->NewStringUTF(joystickName);
+	std::free(joystickName);
+	return str;
   }
 
 /*