diff --git a/src/modules/mavlink/mavlink_parameters.cpp b/src/modules/mavlink/mavlink_parameters.cpp
index 6facb77f1e..0393e0b453 100644
--- a/src/modules/mavlink/mavlink_parameters.cpp
+++ b/src/modules/mavlink/mavlink_parameters.cpp
@@ -152,6 +152,16 @@ MavlinkParametersManager::handle_message(const mavlink_message_t *msg)
 					/* set and send parameter */
 					param_set(param, &(set.param_value));
 					send_param(param);
+
+					/* check for deprecated value, coming from an older GCS */
+					if (strcmp(name, "SYS_MC_EST_GROUP") == 0) {
+						uint32_t val = *(uint32_t *)&set.param_value;
+
+						if (val == 0) { //INAV
+							mavlink_log_critical(_mavlink->get_mavlink_log_pub(),
+									     "INAV is deprecated. Using LPE after reboot");
+						}
+					}
 				}
 			}