diff --git a/app/android/AndroidManifest.xml.in b/app/android/AndroidManifest.xml.in
index d03c6189..db61112f 100644
--- a/app/android/AndroidManifest.xml.in
+++ b/app/android/AndroidManifest.xml.in
@@ -2,7 +2,7 @@
 <!-- BEGIN_INCLUDE(manifest) -->
 <manifest xmlns:android="http://schemas.android.com/apk/res/android"
         package="com.introlab.rtabmap"
-        android:versionCode="68"
+        android:versionCode="69"
         android:versionName="@RTABMAP_VERSION@">
 
     <uses-permission android:name="android.permission.CAMERA" />
diff --git a/app/android/jni/CameraTango.cpp b/app/android/jni/CameraTango.cpp
index 4bdbbd77..50a6bb6b 100644
--- a/app/android/jni/CameraTango.cpp
+++ b/app/android/jni/CameraTango.cpp
@@ -505,7 +505,7 @@ static rtabmap::Transform opticalRotation(
 								0.0f,  0.0f, -1.0f, 0.0f);
 void CameraTango::poseReceived(const Transform & pose)
 {
-	if(!pose.isNull() && pose.getNormSquared() < 100000)
+	if(!pose.isNull())
 	{
 		// send pose of the camera (without optical rotation), not the device
 		Transform p = pose*deviceTColorCamera_*opticalRotation;
diff --git a/app/android/jni/RTABMapApp.cpp b/app/android/jni/RTABMapApp.cpp
index 1291ccbe..9d7ae701 100644
--- a/app/android/jni/RTABMapApp.cpp
+++ b/app/android/jni/RTABMapApp.cpp
@@ -184,6 +184,7 @@ RTABMapApp::RTABMapApp() :
 		lastDrawnCloudsCount_(0),
 		renderingTime_(0.0f),
 		lastPostRenderEventTime_(0.0),
+		lastPoseEventTime_(0.0),
 		visualizingMesh_(false),
 		exportedMeshUpdated_(false),
 		optMesh_(new pcl::TextureMesh),
@@ -254,6 +255,7 @@ void RTABMapApp::onCreate(JNIEnv* env, jobject caller_activity)
 	lastDrawnCloudsCount_ = 0;
 	renderingTime_ = 0.0f;
 	lastPostRenderEventTime_ = 0.0;
+	lastPoseEventTime_ = 0.0;
 	bufferedStatsData_.clear();
 	progressionStatus_.setJavaObjects(jvm, RTABMapActivity);
 	main_scene_.setBackgroundColor(backgroundColor_, backgroundColor_, backgroundColor_);
@@ -1041,6 +1043,7 @@ int RTABMapApp::Render()
 				notifyCameraStarted = true;
 				cameraJustInitialized_ = false;
 			}
+			lastPoseEventTime_ = UTimer::now();
 		}
 
 		rtabmap::OdometryEvent odomEvent;
@@ -1249,6 +1252,7 @@ int RTABMapApp::Render()
 				lastDrawnCloudsCount_ = 0;
 				renderingTime_ = 0.0f;
 				lastPostRenderEventTime_ = 0.0;
+				lastPoseEventTime_ = 0.0;
 				bufferedStatsData_.clear();
 			}
 
@@ -1652,6 +1656,12 @@ int RTABMapApp::Render()
 				rtabmapEvents.clear();
 
 				lastPostRenderEventTime_ = UTimer::now();
+
+				if(lastPoseEventTime_>0.0 && UTimer::now()-lastPoseEventTime_ > 1.0)
+				{
+					UERROR("TangoPoseEventNotReceived");
+					UEventsManager::post(new rtabmap::CameraTangoEvent(10, "TangoPoseEventNotReceived", uNumber2Str(UTimer::now()-lastPoseEventTime_)));
+				}
 			}
 		}
 
diff --git a/app/android/jni/RTABMapApp.h b/app/android/jni/RTABMapApp.h
index 0e0f6e49..b9649546 100644
--- a/app/android/jni/RTABMapApp.h
+++ b/app/android/jni/RTABMapApp.h
@@ -228,6 +228,7 @@ class RTABMapApp : public UEventsHandler {
   int lastDrawnCloudsCount_;
   float renderingTime_;
   double lastPostRenderEventTime_;
+  double lastPoseEventTime_;
   std::map<std::string, float> bufferedStatsData_;
 
   bool visualizingMesh_;
diff --git a/app/android/src/com/introlab/rtabmap/RTABMapActivity.java b/app/android/src/com/introlab/rtabmap/RTABMapActivity.java
index 2d11d09c..1607e8f4 100644
--- a/app/android/src/com/introlab/rtabmap/RTABMapActivity.java
+++ b/app/android/src/com/introlab/rtabmap/RTABMapActivity.java
@@ -1385,9 +1385,13 @@ public class RTABMapActivity extends Activity implements OnClickListener, OnItem
 		{
 			str = String.format("Too close! Tip: Scan from at least ~1 meter from surfaces.", value);
 		}
+		else if(key.equals("TangoPoseEventNotReceived"))
+		{
+			str = String.format("No valid tango pose event received since %s sec.", value);
+		}
 		else	
 		{
-			str = String.format("Unknown Tango event detected!? (type=%d)", type);
+			str = String.format("Unknown Tango event detected!? (type=%d, key=%s, value=%s)", type, key, value);
 		}
 		if(str!=null)
 		{