diff --git a/src/modules/navigator/mission.cpp b/src/modules/navigator/mission.cpp
index 3848d16e5d..be27e6208a 100644
--- a/src/modules/navigator/mission.cpp
+++ b/src/modules/navigator/mission.cpp
@@ -78,6 +78,7 @@ Mission::Mission(Navigator *navigator, const char *name) :
 	_takeoff(false),
 	_mission_type(MISSION_TYPE_NONE),
 	_inited(false),
+	_home_inited(false),
 	_dist_1wp_ok(false),
 	_missionFeasiblityChecker(),
 	_min_current_sp_distance_xy(FLT_MAX),
@@ -110,6 +111,22 @@ Mission::on_inactive()
 			update_offboard_mission();
 		}
 
+		/* check if the home position became valid in the meantime */
+		if ((_mission_type == MISSION_TYPE_NONE || _mission_type == MISSION_TYPE_OFFBOARD) &&
+			!_home_inited && _navigator->home_position_valid()) {
+
+			dm_item_t dm_current = DM_KEY_WAYPOINTS_OFFBOARD(_offboard_mission.dataman_id);
+
+			_navigator->get_mission_result()->valid = _missionFeasiblityChecker.checkMissionFeasible(_navigator->get_mavlink_fd(), _navigator->get_vstatus()->is_rotary_wing,
+					dm_current, (size_t) _offboard_mission.count, _navigator->get_geofence(),
+					_navigator->get_home_position()->alt, _navigator->home_position_valid());
+
+			_navigator->increment_mission_instance_count();
+			_navigator->set_mission_result_updated();
+
+			_home_inited = true;
+		}
+
 	} else {
 		/* read mission topics on initialization */
 		_inited = true;
@@ -176,6 +193,7 @@ Mission::on_active()
 			&& _mission_type != MISSION_TYPE_NONE) {
 		heading_sp_update();
 	}
+
 }
 
 void
diff --git a/src/modules/navigator/mission.h b/src/modules/navigator/mission.h
index bc9a2c6c82..6cfae49598 100644
--- a/src/modules/navigator/mission.h
+++ b/src/modules/navigator/mission.h
@@ -186,6 +186,7 @@ private:
 	} _mission_type;
 
 	bool _inited;
+	bool _home_inited;
 	bool _dist_1wp_ok;
 
 	MissionFeasibilityChecker _missionFeasiblityChecker; /**< class that checks if a mission is feasible */