diff --git a/sw/airborne/subsystems/navigation/OSAMNav.c b/sw/airborne/subsystems/navigation/OSAMNav.c
index e75cd0bcd5..6f214cf489 100644
--- a/sw/airborne/subsystems/navigation/OSAMNav.c
+++ b/sw/airborne/subsystems/navigation/OSAMNav.c
@@ -364,6 +364,9 @@ bool_t InitializePolygonSurvey(uint8_t EntryWP, uint8_t Size, float sw, float Or
 	struct Point2D Corners[PolygonSize];
 
 	CSurveyStatus = Init;
+	
+	if (Size == 0)
+	  return TRUE;
 
 	//Don't initialize if Polygon is too big or if the orientation is not between 0 and 90
 	if(Size <= PolygonSize && Orientation >= -90 && Orientation <= 90)