Single formated post throws notice in custom menu

[mfields]

I've tested this a few times using TwentyTen with no plugins in 3.1-beta2-17056. Here are the steps to reproduce:

Create a new aside post and assign it to any category which also appears in your custom menu.

When you view the post, the following notice should be generated:

Notice: Undefined property: stdClass::$term_id in C:\xampplite\htdocs\3.1\wp-includes\nav-menu-template.php on line 429

If you assign the same post to a second category which is also represented in the nav menu, you should see two notices.

[nacin]

This code looks wrong. The parent item is a taxonomy item, sure, but that doesn't mean that the queried object is going to have term_id. I think I'm just reading it wrong -- it looks like we make numerous other isset/empty checks on the $queried_object variable in that function.

I imagine filosofo will know immediately what's up.

[nacin]

Duplicate of #15944 (with patch from filosofo).