From 13e360df08b3780e59352b23a29fab89b587537c Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 27 Aug 2015 14:22:05 +0900
Subject: [PATCH] Mission: sanity check location

---
 libraries/AP_Mission/AP_Mission.cpp | 8 ++++++++
 1 file changed, 8 insertions(+)

diff --git a/libraries/AP_Mission/AP_Mission.cpp b/libraries/AP_Mission/AP_Mission.cpp
index e50eb809b5..02ceaa0797 100644
--- a/libraries/AP_Mission/AP_Mission.cpp
+++ b/libraries/AP_Mission/AP_Mission.cpp
@@ -705,6 +705,14 @@ bool AP_Mission::mavlink_to_mission_cmd(const mavlink_mission_item_t& packet, AP
 
     // copy location from mavlink to command
     if (copy_location || copy_alt) {
+
+        // sanity check location
+        if (copy_location) {
+            if (fabsf(packet.x) > 90.0f || fabsf(packet.y) > 180.0f) {
+                return false;
+            }
+        }
+
         switch (packet.frame) {
 
         case MAV_FRAME_MISSION: