From 756d564b7c050cce2f91e44832c299d7c2050c89 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 19 Oct 2015 16:14:00 +0900
Subject: [PATCH] Mission: sanity check command altitudes

---
 libraries/AP_Mission/AP_Mission.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index bf554fe9c8..f83650fd04 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -723,6 +723,9 @@ bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP
                 return false;
             }
         }
+        if (fabsf(packet.z) >= LOCATION_ALT_MAX_M) {
+            return false;
+        }
 
         switch (packet.frame) {