From 57c9afb77e9a146574cca399265250b6acba6130 Mon Sep 17 00:00:00 2001
From: Michael du Breuil <wicked.shell.scripts@gmail.com>
Date: Sun, 18 Jun 2017 22:40:08 -0700
Subject: [PATCH] Rover: Handle NAV_CONTROLLER_OUTPUT.wp_dist overflowing

---
 APMrover2/GCS_Mavlink.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/APMrover2/GCS_Mavlink.cpp b/APMrover2/GCS_Mavlink.cpp
index fe765d29b6..108c01f06f 100644
--- a/APMrover2/GCS_Mavlink.cpp
+++ b/APMrover2/GCS_Mavlink.cpp
@@ -144,7 +144,7 @@ void Rover::send_nav_controller_output(mavlink_channel_t chan)
         ahrs.groundspeed() * ins.get_gyro().z,  // use nav_pitch to hold actual Y accel
         nav_controller->nav_bearing_cd() * 0.01f,
         nav_controller->target_bearing_cd() * 0.01f,
-        wp_distance,
+        MIN(wp_distance, UINT16_MAX),
         0,
         groundspeed_error,
         nav_controller->crosstrack_error());