mavlink_mission: add check for fence & safe point on regular mission upload

src/modules/mavlink/mavlink_mission.cpp

@@ -1048,6 +1048,16 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
 		switch (_mission_type) {
 
 		case MAV_MISSION_TYPE_MISSION: {
+				// check that we don't get a wrong item (hardening against wrong client implementations, the list here
+				// does not need to be complete)
+				if (mission_item.nav_cmd == MAV_CMD_NAV_FENCE_POLYGON_VERTEX_INCLUSION ||
+				    mission_item.nav_cmd == MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION ||
+				    mission_item.nav_cmd == MAV_CMD_NAV_FENCE_CIRCLE_INCLUSION ||
+				    mission_item.nav_cmd == MAV_CMD_NAV_FENCE_CIRCLE_EXCLUSION ||
+				    mission_item.nav_cmd == MAV_CMD_NAV_RALLY_POINT) {
+					check_failed = true;
+
+				} else {
 					dm_item_t dm_item = DM_KEY_WAYPOINTS_OFFBOARD(_transfer_dataman_id);
 
 					write_failed = dm_write(dm_item, wp.seq, DM_PERSIST_POWER_ON_RESET, &mission_item,
@@ -1060,6 +1070,7 @@ MavlinkMissionManager::handle_mission_item_both(const mavlink_message_t *msg)
 						}
 					}
 				}
+			}
 			break;
 
 		case MAV_MISSION_TYPE_FENCE: { // Write a geofence point