diff --git a/sw/airborne/common_nav.h b/sw/airborne/common_nav.h
index ffc478217f..83aaa2f953 100644
--- a/sw/airborne/common_nav.h
+++ b/sw/airborne/common_nav.h
@@ -3,6 +3,7 @@
 
 #include "std.h"
 
+extern float max_dist_from_home;
 extern float dist2_to_home;
 extern float dist2_to_wp;
 extern bool_t too_far_from_home;
@@ -17,6 +18,16 @@ struct point {
 #define WaypointY(_wp) (waypoints[_wp].y)
 #define WaypointAlt(_wp) (waypoints[_wp].a)
 
+#define MoveWaypoint(_id, _ux, _uy, _a) { \
+  if (_id < nb_waypoint) { \
+    waypoints[_id].x = _ux - nav_utm_east0; \
+    waypoints[_id].y = _uy - nav_utm_north0; \
+    BoundAbs(waypoints[_id].x, max_dist_from_home); \
+    BoundAbs(waypoints[_id].y, max_dist_from_home); \
+    waypoints[_id].a = _a; \
+  } \
+}
+
 extern const uint8_t nb_waypoint;
 extern struct point waypoints[];
 /** size == nb_waypoint, waypoint 0 is a dummy waypoint */ 
diff --git a/sw/airborne/nav.h b/sw/airborne/nav.h
index 0ec82feac6..757cf1204c 100644
--- a/sw/airborne/nav.h
+++ b/sw/airborne/nav.h
@@ -66,16 +66,6 @@ extern uint8_t horizontal_mode;
 #define HORIZONTAL_MODE_ROUTE 1
 #define HORIZONTAL_MODE_CIRCLE 2
 
-#define MoveWaypoint(_id, _ux, _uy, _a) { \
-  if (_id < nb_waypoint) { \
-    waypoints[_id].x = _ux - nav_utm_east0; \
-    waypoints[_id].y = _uy - nav_utm_north0; \
-    Bound(waypoints[_id].x, -MAX_DIST_FROM_HOME, MAX_DIST_FROM_HOME); \
-    Bound(waypoints[_id].y, -MAX_DIST_FROM_HOME, MAX_DIST_FROM_HOME); \
-    waypoints[_id].a = _a; \
-  } \
-}
-
 extern void nav_eight_init( void );
 extern void nav_eight(uint8_t, uint8_t, float);
 #define Eight(a, b, c) nav_eight((a), (b), (c))