diff --git a/clever/src/simple_offboard.cpp b/clever/src/simple_offboard.cpp
index 5fb07fbf..51cecbe0 100644
--- a/clever/src/simple_offboard.cpp
+++ b/clever/src/simple_offboard.cpp
@@ -351,6 +351,10 @@ PoseStamped globalToLocal(double lat, double lon)
 	x_offset = distance * sin(azimuth_radians);
 	y_offset = distance * cos(azimuth_radians);
 
+	if (!waitTransform(local_frame, fcu_frame, global_position.header.stamp, ros::Duration(1))) {
+		throw std::runtime_error("No local position");
+	}
+
 	auto local = tf_buffer.lookupTransform(local_frame, fcu_frame, global_position.header.stamp);
 
 	PoseStamped pose;