From 8691eae679c828fb172cdb167b8d67e2ec44c570 Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Sun, 18 Jun 2017 22:39:07 -0700
Subject: [PATCH] Plane: Handle NAV_CONTROLLER_OUTPUT.wp_dist overflowing

---
 ArduPlane/GCS_Mavlink.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp
index 3e1670c637..7f58f75ddf 100644
--- a/ArduPlane/GCS_Mavlink.cpp
+++ b/ArduPlane/GCS_Mavlink.cpp
@@ -199,7 +199,7 @@ void Plane::send_nav_controller_output(mavlink_channel_t chan)
         nav_pitch_cd * 0.01f,
         nav_controller->nav_bearing_cd() * 0.01f,
         nav_controller->target_bearing_cd() * 0.01f,
-        auto_state.wp_distance,
+        MIN(auto_state.wp_distance, UINT16_MAX),
         altitude_error_cm * 0.01f,
         airspeed_error * 100,
         nav_controller->crosstrack_error());