diff --git a/src/MissionManager/MissionController.cc b/src/MissionManager/MissionController.cc
index 1f87f6f1e2d66536b2574fc1ec4f6c2223519117..e0089123b99db13a60c964ee9dd1fe113be7077b 100644
--- a/src/MissionManager/MissionController.cc
+++ b/src/MissionManager/MissionController.cc
@@ -212,6 +212,17 @@ void MissionController::loadFromVehicle(void)
     }
 }
 
+void MissionController::_warnIfTerrainFrameUsed(void)
+{
+    for (int i=1; i<_visualItems->count(); i++) {
+        SimpleMissionItem* simpleItem = qobject_cast<SimpleMissionItem*>(_visualItems->get(i));
+        if (simpleItem && simpleItem->altitudeMode() == SimpleMissionItem::AltitudeTerrainFrame) {
+            qgcApp()->showMessage(tr("Warning: You are using MAV_FRAME_GLOBAL_TERRAIN_ALT in a mission. %1 does not support sending terrain tiles to vehicle.").arg(qgcApp()->applicationName()));
+            break;
+        }
+    }
+}
+
 void MissionController::sendToVehicle(void)
 {
     if (_masterController->offline()) {
@@ -220,6 +231,7 @@ void MissionController::sendToVehicle(void)
         qCWarning(MissionControllerLog) << "MissionControllerLog::sendToVehicle called while syncInProgress";
     } else {
         qCDebug(MissionControllerLog) << "MissionControllerLog::sendToVehicle";
+        _warnIfTerrainFrameUsed();
         if (_visualItems->count() == 1) {
             // This prevents us from sending a possibly bogus home position to the vehicle
             QmlObjectListModel emptyModel;
diff --git a/src/MissionManager/MissionController.h b/src/MissionManager/MissionController.h
index 4a2fda27cd6dd49895776a1192a7f4059be9c608..53e56d01c87b2a9f3861ed661721f2439977a4d0 100644
--- a/src/MissionManager/MissionController.h
+++ b/src/MissionManager/MissionController.h
@@ -257,6 +257,7 @@ private:
     void _addCommandTimeDelay(SimpleMissionItem* simpleItem, bool vtolInHover);
     void _addTimeDistance(bool vtolInHover, double hoverTime, double cruiseTime, double extraTime, double distance, int seqNum);
     int _insertComplexMissionItemWorker(ComplexMissionItem* complexItem, int i);
+    void _warnIfTerrainFrameUsed(void);
 
 private:
     MissionManager*         _missionManager;