From 6b2f3ff59151a9bcbbb020c08653d247ffad825e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Fri, 16 Aug 2024 22:45:50 +1000
Subject: [PATCH] ArduCopter: emit MAV_RESULT_DENIED if start/stop item passed
 to MAV_CMD_MISSION_START

---
 ArduCopter/GCS_Mavlink.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/ArduCopter/GCS_Mavlink.cpp b/ArduCopter/GCS_Mavlink.cpp
index a81ed5a46e..a096d6ecca 100644
--- a/ArduCopter/GCS_Mavlink.cpp
+++ b/ArduCopter/GCS_Mavlink.cpp
@@ -960,6 +960,10 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_MAV_CMD_DO_CHANGE_SPEED(const mavlink_comm
 #if MODE_AUTO_ENABLED == ENABLED
 MAV_RESULT GCS_MAVLINK_Copter::handle_MAV_CMD_MISSION_START(const mavlink_command_int_t &packet)
 {
+        if (!is_zero(packet.param1) || !is_zero(packet.param2)) {
+            // first-item/last item not supported
+            return MAV_RESULT_DENIED;
+        }
         if (copter.set_mode(Mode::Number::AUTO, ModeReason::GCS_COMMAND)) {
             copter.set_auto_armed(true);
             if (copter.mode_auto.mission.state() != AP_Mission::MISSION_RUNNING) {