diff --git a/Tools/autotest/rover.py b/Tools/autotest/rover.py
index fef6519a7d..c4be3f7507 100644
--- a/Tools/autotest/rover.py
+++ b/Tools/autotest/rover.py
@@ -2306,6 +2306,47 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
         self.test_gcs_fence_via_mavproxy(target_system=target_system,
                                          target_component=target_component)
 
+    def GCSFenceInvalidPoint(self):
+        '''Test fetch non-existant fencepoint'''
+        target_system = 1
+        target_component = 1
+
+        here = self.mav.location()
+        self.upload_fences_from_locations([
+            (mavutil.mavlink.MAV_CMD_NAV_FENCE_POLYGON_VERTEX_EXCLUSION, [
+                # east
+                self.offset_location_ne(here, -50, 20), # bl
+                self.offset_location_ne(here, 50, 20), # br
+                self.offset_location_ne(here, 50, 40), # tr
+            ]),
+        ])
+        for i in 0, 1, 2:
+            self.assert_fetch_mission_item_int(target_system, target_component, i, mavutil.mavlink.MAV_MISSION_TYPE_FENCE)
+        self.progress("Requesting invalid point")
+        self.mav.mav.mission_request_int_send(
+            target_system,
+            target_component,
+            3,
+            mavutil.mavlink.MAV_MISSION_TYPE_FENCE
+        )
+        self.context_push()
+        self.context_collect('MISSION_COUNT')
+        m = self.assert_receive_mission_ack(
+            mavutil.mavlink.MAV_MISSION_TYPE_FENCE,
+            want_type=mavutil.mavlink.MAV_MISSION_INVALID_SEQUENCE,
+        )
+        self.delay_sim_time(0.1)
+        found = False
+        for m in self.context_collection('MISSION_COUNT'):
+            if m.mission_type != mavutil.mavlink.MAV_MISSION_TYPE_FENCE:
+                continue
+            if m.count != 3:
+                raise NotAchievedException("Unexpected count in MISSION_COUNT")
+            found = True
+        self.context_pop()
+        if not found:
+            raise NotAchievedException("Did not see correction for fencepoint count")
+
     # explode the write_type_to_storage method
     # FIXME: test converting invalid fences / minimally valid fences / normal fences
     # FIXME: show that uploading smaller items take up less space
@@ -2533,6 +2574,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
         if m.type != want_type:
             raise NotAchievedException("Expected ack type %u got %u" %
                                        (want_type, m.type))
+        return m
 
     def assert_filepath_content(self, filepath, want):
         with open(filepath) as f:
@@ -7015,6 +7057,7 @@ Brakes have negligible effect (with=%0.2fm without=%0.2fm delta=%0.2fm)
             self.Offboard,
             self.MAVProxyParam,
             self.GCSFence,
+            self.GCSFenceInvalidPoint,
             self.GCSMission,
             self.GCSRally,
             self.MotorTest,
diff --git a/Tools/autotest/vehicle_test_suite.py b/Tools/autotest/vehicle_test_suite.py
index daef87434f..0cb98ef1b4 100644
--- a/Tools/autotest/vehicle_test_suite.py
+++ b/Tools/autotest/vehicle_test_suite.py
@@ -9311,6 +9311,19 @@ Also, ignores heartbeats not from our target system'''
                                        (mavutil.mavlink.enums["MAV_MISSION_RESULT"][m.type].name),)
         self.progress("Upload of all %u items succeeded" % len(items))
 
+    def assert_fetch_mission_item_int(self, target_system, target_component, seq, mission_type):
+        self.mav.mav.mission_request_int_send(target_system,
+                                              target_component,
+                                              seq,
+                                              mission_type)
+        m = self.assert_receive_message(
+            'MISSION_ITEM_INT',
+            condition=f'MISSION_ITEM_INT.mission_type=={mission_type}',
+        )
+        if m is None:
+            raise NotAchievedException("Did not receive MISSION_ITEM_INT")
+        return m
+
     def download_using_mission_protocol(self, mission_type, verbose=False, timeout=10):
         '''mavlink2 required'''
         target_system = 1
@@ -9362,16 +9375,7 @@ Also, ignores heartbeats not from our target system'''
                 return items
             self.progress("Requesting item %u (remaining=%u)" %
                           (next_to_request, len(remaining_to_receive)))
-            self.mav.mav.mission_request_int_send(target_system,
-                                                  target_component,
-                                                  next_to_request,
-                                                  mission_type)
-            m = self.mav.recv_match(type='MISSION_ITEM_INT',
-                                    blocking=True,
-                                    timeout=5,
-                                    condition='MISSION_ITEM_INT.mission_type==%u' % mission_type)
-            if m is None:
-                raise NotAchievedException("Did not receive MISSION_ITEM_INT")
+            m = self.assert_fetch_mission_item_int(target_system, target_component, next_to_request, mission_type)
             if m.target_system != self.mav.source_system:
                 raise NotAchievedException("Wrong target system (want=%u got=%u)" %
                                            (self.mav.source_system, m.target_system))