From a3fa4dd537609de95a2b65405c6e611b2c139075 Mon Sep 17 00:00:00 2001
From: Mathieu Mirmont <mat@parad0x.org>
Date: Mon, 13 Mar 2023 16:15:46 +0100
Subject: [PATCH] PlanManager: drop spurious items for unexpected mission types
 (#10509)

* PlanManager: drop spurious items for unexpected mission types
* PlanManager: drive-by bug fix
---
 src/MissionManager/PlanManager.cc | 39 ++++++++++++++++++++++++---------------
 1 file changed, 24 insertions(+), 15 deletions(-)

diff --git a/src/MissionManager/PlanManager.cc b/src/MissionManager/PlanManager.cc
index cddd777..38da071 100644
--- a/src/MissionManager/PlanManager.cc
+++ b/src/MissionManager/PlanManager.cc
@@ -373,25 +373,27 @@ void PlanManager::_requestNextMissionItem(void)
 
 void PlanManager::_handleMissionItem(const mavlink_message_t& message)
 {
-    MAV_CMD     command;
-    MAV_FRAME   frame;
-    double      param1;
-    double      param2;
-    double      param3;
-    double      param4;
-    double      param5;
-    double      param6;
-    double      param7;
-    bool        autoContinue;
-    bool        isCurrentItem;
-    int         seq;
+    MAV_CMD          command;
+    MAV_FRAME        frame;
+    MAV_MISSION_TYPE missionType;
+    double           param1;
+    double           param2;
+    double           param3;
+    double           param4;
+    double           param5;
+    double           param6;
+    double           param7;
+    bool             autoContinue;
+    bool             isCurrentItem;
+    int              seq;
 
     mavlink_mission_item_int_t missionItem;
     mavlink_msg_mission_item_int_decode(&message, &missionItem);
 
-    command =       (MAV_CMD)missionItem.command,
-            frame =         (MAV_FRAME)missionItem.frame,
-            param1 =        missionItem.param1;
+    command =       (MAV_CMD)missionItem.command;
+    frame =         (MAV_FRAME)missionItem.frame;
+    missionType =   (MAV_MISSION_TYPE)missionItem.mission_type;
+    param1 =        missionItem.param1;
     param2 =        missionItem.param2;
     param3 =        missionItem.param3;
     param4 =        missionItem.param4;
@@ -402,6 +404,13 @@ void PlanManager::_handleMissionItem(const mavlink_message_t& message)
     isCurrentItem = missionItem.current;
     seq =           missionItem.seq;
 
+    // Check the mission_type field. It can happen that we receive a late duplicate message for a
+    // different mission_type request.
+    if (missionType != _planType) {
+       qCDebug(PlanManagerLog) << QStringLiteral("_handleMissionItem %1 dropping spurious item seq:command:missionType").arg(_planTypeString()) << seq << command << missionType;
+       return;
+    }
+
     // We don't support editing ALT_INT frames so change on the way in.
     if (frame == MAV_FRAME_GLOBAL_INT) {
         frame = MAV_FRAME_GLOBAL;