You could test $REQUEST['foo'] to see if it exists, and, if it doesn't, set it to some other value
if(!isset($_REQUEST['foo'])) $_REQUEST['foo'] = '0';
or generate an error message to send back to the user.
Certainly you should be testing your form variables; the sensible time would be when you're doing your other form validation - to make sure that variables you need are being supplied, and that they only contain valid data.