diff --git a/src/FDM/CMakeLists.txt b/src/FDM/CMakeLists.txt
index cfcb90798..ad36b22a3 100644
--- a/src/FDM/CMakeLists.txt
+++ b/src/FDM/CMakeLists.txt
@@ -173,7 +173,7 @@ if(ENABLE_LARCSIM)
 	endforeach()
 endif()
 
-flightgear_component(FDM "${SOURCES}")
+flightgear_component(FDM "${SOURCES}" "${HEADERS}")
 
 if(ENABLE_YASIM)
 	add_subdirectory(YASim)
diff --git a/src/FDM/fdm_shell.cxx b/src/FDM/fdm_shell.cxx
index b008694e9..e49b9014a 100644
--- a/src/FDM/fdm_shell.cxx
+++ b/src/FDM/fdm_shell.cxx
@@ -63,11 +63,12 @@
 #include <FDM/YASim/YASim.hxx>
 #endif
 
+#include <GUI/MessageBox.hxx>
+#include <Main/sentryIntegration.hxx>
+
 using std::string;
 
-FDMShell::FDMShell() :
-  _tankProperties( fgGetNode("/consumables/fuel", true) ),
-  _dataLogging(false)
+FDMShell::FDMShell() : _tankProperties(fgGetNode("/consumables/fuel", true))
 {
 }
 
@@ -94,6 +95,10 @@ void FDMShell::init()
   _max_radius_nm    = _props->getNode("fdm/ai-wake/max-radius-nm",          true);
   _ai_wake_enabled  = _props->getNode("fdm/ai-wake/enabled",                true);
 
+  _nanCheckFailed = false;
+  fgSetBool("/sim/fdm-nan-failure", false);
+  _lastValidPos = SGGeod::invalid();
+
   createImplementation();
 }
 
@@ -170,7 +175,11 @@ void FDMShell::update(double dt)
   if (!_impl) {
     return;
   }
-  
+
+  if (_nanCheckFailed) {
+      return;
+  }
+
   if (!_impl->get_inited()) {
     // Check for scenery around the aircraft.
     double lon = fgGetDouble("/sim/presets/longitude-deg");
@@ -263,6 +272,8 @@ void FDMShell::update(double dt)
           // replay is active
           break;
   }
+
+  validateOutputProperties();
 }
 
 FGInterface* FDMShell::getInterface() const
@@ -390,6 +401,36 @@ void FDMShell::createImplementation()
     }
 }
 
+void FDMShell::validateOutputProperties()
+{
+    if (_nanCheckFailed)
+        return;
+
+    const auto p = globals->get_aircraft_position();
+    if (SGMisc<double>::isNaN(p.getLatitudeDeg()) ||
+        SGMisc<double>::isNaN(p.getLongitudeDeg()) ||
+        SGMisc<double>::isNaN(p.getElevationFt())) {
+        SG_LOG(SG_FLIGHT, SG_ALERT, "FDM position became invalid. Last valid position was:" << _lastValidPos);
+        _nanCheckFailed = true;
+    } else {
+        _lastValidPos = p;
+    }
+
+    if (SGMisc<double>::isNaN(_impl->get_V_true_kts())) {
+        SG_LOG(SG_FLIGHT, SG_ALERT, "FDM velocity became invalid");
+        _nanCheckFailed = true;
+    }
+
+    if (_nanCheckFailed) {
+        flightgear::sentryReportException("FDM NaN check failed");
+
+        flightgear::modalMessageBox("Flight dynamics error",
+                                    "The flight dynamics model (FDM) has become invalid. The simulation will be stopped, so you can restart at a new location.");
+        fgSetBool("/sim/fdm-nan-failure", true);
+        fgSetBool("/sim/freeze/master", true);
+        fgSetBool("/sim/freeze/clock", true);
+    }
+}
 
 // Register the subsystem.
 SGSubsystemMgr::Registrant<FDMShell> registrantFDMShell(
diff --git a/src/FDM/fdm_shell.hxx b/src/FDM/fdm_shell.hxx
index a64bdd1a7..d01195e94 100644
--- a/src/FDM/fdm_shell.hxx
+++ b/src/FDM/fdm_shell.hxx
@@ -23,7 +23,9 @@
 #ifndef FG_FDM_SHELL_HXX
 #define FG_FDM_SHELL_HXX
 
+#include <simgear/math/SGGeod.hxx>
 #include <simgear/structure/subsystem_mgr.hxx>
+
 #include "TankProperties.hxx"
 
 // forward decls
@@ -61,10 +63,16 @@ public:
 private:
     void createImplementation();
 
+    void validateOutputProperties();
+
+private:
     TankPropertiesList _tankProperties;
     SGSharedPtr<FGInterface> _impl;
     SGPropertyNode_ptr _props; // root property tree for this FDM instance
-    bool _dataLogging;
+    bool _dataLogging = false;
+
+    bool _nanCheckFailed = false; ///< set when we detect NaN output from the impl
+    SGGeod _lastValidPos;
 
     SGPropertyNode_ptr _wind_north, _wind_east,_wind_down;
     SGPropertyNode_ptr _control_fdm_atmo,_temp_degc,_pressure_inhg;
diff --git a/src/Main/sentryIntegration.cxx b/src/Main/sentryIntegration.cxx
index f5250c361..4a004fb42 100644
--- a/src/Main/sentryIntegration.cxx
+++ b/src/Main/sentryIntegration.cxx
@@ -68,6 +68,9 @@ auto XML_messageWhitelist = {
      "syntax error (from 'SimGear XML Parser')"
 };
 
+auto exception_messageWhitelist = {
+    "position is invalid, NaNs"};
+
 // we don't want sentry enabled for the test suite
 #if defined(HAVE_SENTRY) && !defined(BUILDING_TESTSUITE)
 
@@ -94,6 +97,10 @@ void sentryTraceSimgearThrow(const std::string& msg, const std::string& origin,
         return;
     }
 
+    if (doesStringMatchPrefixes(msg, exception_messageWhitelist)) {
+        return;
+    }
+
     sentry_value_t exc = sentry_value_new_object();
     sentry_value_set_by_key(exc, "type", sentry_value_new_string("Exception"));