diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index edeb31e888..5ac8e9ca8b 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1774,14 +1774,18 @@ int commander_thread_main(int argc, char *argv[])
 		if (status.condition_home_position_valid &&
 			(hrt_elapsed_time(&_home.timestamp) > 2000000) &&
 			_last_mission_instance != mission_result.instance_count) {
-			if (mission_result.valid) {
+			if (!mission_result.valid) {
+				/* the mission is invalid */
+				tune_mission_fail(true);
+				warnx("mission fail");
+			} else if (mission_result.warning) {
+				/* the mission has a warning */
+				tune_mission_fail(true);
+				warnx("mission warning");
+			} else {
 				/* the mission is valid */
 				tune_mission_ok(true);
 				warnx("mission ok");
-			} else {
-				/* the mission is not valid */
-				tune_mission_fail(true);
-				warnx("mission fail");
 			}
 
 			/* prevent further feedback until the mission changes */