diff --git a/ground/src/plugins/opmap/opmap_widget.ui b/ground/src/plugins/opmap/opmap_widget.ui
index 4bc825949..e05289c0b 100644
--- a/ground/src/plugins/opmap/opmap_widget.ui
+++ b/ground/src/plugins/opmap/opmap_widget.ui
@@ -432,32 +432,6 @@ border-radius: 2px;
           </property>
          </widget>
         </item>
-        <item>
-         <widget class="QToolButton" name="toolButtonCenterWaypoint">
-          <property name="sizePolicy">
-           <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
-            <horstretch>0</horstretch>
-            <verstretch>0</verstretch>
-           </sizepolicy>
-          </property>
-          <property name="toolTip">
-           <string>Move the magic waypoint to center of map</string>
-          </property>
-          <property name="text">
-           <string>Center WP</string>
-          </property>
-          <property name="icon">
-           <iconset resource="opmap.qrc">
-            <normaloff>:/opmap/images/center_wp.png</normaloff>:/opmap/images/center_wp.png</iconset>
-          </property>
-          <property name="iconSize">
-           <size>
-            <width>28</width>
-            <height>28</height>
-           </size>
-          </property>
-         </widget>
-        </item>
         <item>
          <widget class="Line" name="line_8">
           <property name="frameShadow">
diff --git a/ground/src/plugins/opmap/opmapgadgetwidget.cpp b/ground/src/plugins/opmap/opmapgadgetwidget.cpp
index 2a80f7372..2e96d152a 100644
--- a/ground/src/plugins/opmap/opmapgadgetwidget.cpp
+++ b/ground/src/plugins/opmap/opmapgadgetwidget.cpp
@@ -609,7 +609,6 @@ void OPMapGadgetWidget::contextMenuEvent(QContextMenuEvent *event)
         case MagicWaypoint_MapMode:
             menu.addSeparator()->setText(tr("Waypoints"));
             menu.addAction(homeMagicWaypointAct);
-            menu.addAction(centerMagicWaypointAct);
             break;
     }
 
@@ -1111,11 +1110,6 @@ void OPMapGadgetWidget::on_toolButtonHomeWaypoint_clicked()
     homeMagicWaypoint();
 }
 
-void OPMapGadgetWidget::on_toolButtonCenterWaypoint_clicked()
-{
-    centerMagicWaypoint();
-}
-
 void OPMapGadgetWidget::on_toolButtonMoveToWP_clicked()
 {
     moveToMagicWaypointPosition();
@@ -1141,6 +1135,9 @@ void OPMapGadgetWidget::setHome(internals::PointLatLng pos_lat_lon)
 
     m_map->Home->SetCoord(home_position.coord);
     m_map->Home->RefreshPos();
+
+    // move the magic waypoint to keep it within the safe area boundry
+    keepMagicWaypointWithInSafeArea();
 }
 
 void OPMapGadgetWidget::goHome()
@@ -1493,10 +1490,6 @@ void OPMapGadgetWidget::createActions()
     homeMagicWaypointAct->setStatusTip(tr("Move the magic waypoint to the home position"));
     connect(homeMagicWaypointAct, SIGNAL(triggered()), this, SLOT(onHomeMagicWaypointAct_triggered()));
 
-    centerMagicWaypointAct = new QAction(tr("Center magic waypoint"), this);
-    centerMagicWaypointAct->setStatusTip(tr("Move the magic waypoint to the center of the map"));
-    connect(centerMagicWaypointAct, SIGNAL(triggered()), this, SLOT(onCenterMagicWaypointAct_triggered()));
-
     mapModeActGroup = new QActionGroup(this);
     connect(mapModeActGroup, SIGNAL(triggered(QAction *)), this, SLOT(onMapModeActGroup_triggered(QAction *)));
     mapModeAct.clear();
@@ -1975,12 +1968,6 @@ void OPMapGadgetWidget::onHomeMagicWaypointAct_triggered()
     homeMagicWaypoint();
 }
 
-void OPMapGadgetWidget::onCenterMagicWaypointAct_triggered()
-{
-    // center the magic waypoint on the map
-    centerMagicWaypoint();
-}
-
 void OPMapGadgetWidget::onShowSafeAreaAct_toggled(bool show)
 {
     if (!m_widget || !m_map)
@@ -1999,6 +1986,9 @@ void OPMapGadgetWidget::onSafeAreaActGroup_triggered(QAction *action)
 
     m_map->Home->SetSafeArea(radius);               // set the radius (meters)
     m_map->Home->RefreshPos();
+
+    // move the magic waypoint if need be to keep it within the safe area around the home position
+    keepMagicWaypointWithInSafeArea();
 }
 
 // *************************************************************************************
@@ -2018,23 +2008,6 @@ void OPMapGadgetWidget::homeMagicWaypoint()
         magic_waypoint.map_wp_item->SetCoord(magic_waypoint.coord);
 }
 
-// *************************************************************************************
-// move the magic waypoint to the center of the map
-
-void OPMapGadgetWidget::centerMagicWaypoint()
-{
-    if (!m_widget || !m_map)
-        return;
-
-    if (m_map_mode != MagicWaypoint_MapMode)
-        return;
-
-    magic_waypoint.coord = m_map->CurrentPosition();
-
-    if (magic_waypoint.map_wp_item)
-        magic_waypoint.map_wp_item->SetCoord(magic_waypoint.coord);
-}
-
 // *************************************************************************************
 // move the UAV to the magic waypoint position
 
@@ -2108,7 +2081,6 @@ void OPMapGadgetWidget::hideMagicWaypointControls()
 {
     m_widget->lineWaypoint->setVisible(false);
     m_widget->toolButtonHomeWaypoint->setVisible(false);
-    m_widget->toolButtonCenterWaypoint->setVisible(false);
     m_widget->toolButtonMoveToWP->setVisible(false);
 }
 
@@ -2116,10 +2088,38 @@ void OPMapGadgetWidget::showMagicWaypointControls()
 {
     m_widget->lineWaypoint->setVisible(true);
     m_widget->toolButtonHomeWaypoint->setVisible(true);
-    m_widget->toolButtonCenterWaypoint->setVisible(true);
     m_widget->toolButtonMoveToWP->setVisible(true);
 }
 
+// *************************************************************************************
+// move the magic waypoint to keep it within the safe area boundry
+
+void OPMapGadgetWidget::keepMagicWaypointWithInSafeArea()
+{
+
+    // calcute the bearing and distance from the home position to the magic waypoint
+    double dist = distance(home_position.coord, magic_waypoint.coord);
+    double bear = bearing(home_position.coord, magic_waypoint.coord);
+
+    // get the maximum safe distance - in kilometers
+    double boundry_dist = (double)m_map->Home->SafeArea() / 1000;
+
+//    if (dist <= boundry_dist)
+//        return; // the magic waypoint is still within the safe area, don't move it
+
+    if (dist > boundry_dist) dist = boundry_dist;
+
+    // move the magic waypoint
+
+    magic_waypoint.coord = destPoint(home_position.coord, bear, dist);
+
+    if (m_map_mode == MagicWaypoint_MapMode)
+    {   // move the on-screen waypoint
+        if (magic_waypoint.map_wp_item)
+            magic_waypoint.map_wp_item->SetCoord(magic_waypoint.coord);
+    }
+}
+
 // *************************************************************************************
 // return the distance between two points .. in kilometers
 
diff --git a/ground/src/plugins/opmap/opmapgadgetwidget.h b/ground/src/plugins/opmap/opmapgadgetwidget.h
index 746732b4e..8c209cb13 100644
--- a/ground/src/plugins/opmap/opmapgadgetwidget.h
+++ b/ground/src/plugins/opmap/opmapgadgetwidget.h
@@ -156,7 +156,6 @@ private slots:
     void on_toolButtonMagicWaypointMapMode_clicked();
     void on_toolButtonNormalMapMode_clicked();
     void on_toolButtonHomeWaypoint_clicked();
-    void on_toolButtonCenterWaypoint_clicked();
     void on_toolButtonMoveToWP_clicked();
 
     /**
@@ -208,7 +207,6 @@ private slots:
     void onMapModeActGroup_triggered(QAction *action);
     void onZoomActGroup_triggered(QAction *action);
     void onHomeMagicWaypointAct_triggered();
-    void onCenterMagicWaypointAct_triggered();
     void onShowSafeAreaAct_toggled(bool show);
     void onSafeAreaActGroup_triggered(QAction *action);
     void onUAVTrailTypeActGroup_triggered(QAction *action);
@@ -293,7 +291,6 @@ private:
     QAction *deleteWayPointAct;
     QAction *clearWayPointsAct;
     QAction *homeMagicWaypointAct;
-    QAction *centerMagicWaypointAct;
 
     QAction *showSafeAreaAct;
     QActionGroup *safeAreaActGroup;
@@ -314,7 +311,6 @@ private:
     QList<QAction *> zoomAct;
 
     void homeMagicWaypoint();
-    void centerMagicWaypoint();
 
     void moveToMagicWaypointPosition();
 
@@ -324,6 +320,8 @@ private:
     void hideMagicWaypointControls();
     void showMagicWaypointControls();
 
+    void keepMagicWaypointWithInSafeArea();
+
     double distance(internals::PointLatLng from, internals::PointLatLng to);
     double bearing(internals::PointLatLng from, internals::PointLatLng to);
     internals::PointLatLng destPoint(internals::PointLatLng source, double bear, double dist);