CVE-2026-32724

PX4 autopilot has a heap Use-After-Free in MavlinkShell::available() via SERIAL_CONTROL Race Condition

State: Published
Severity: 5.3 Medium
Published: Mar 13, 2026
Updated: Mar 16, 2026
Reserved: Mar 13, 2026

Description

PX4 autopilot is a flight control solution for drones. Prior to 1.17.0-rc1, a heap-use-after-free is detected in the MavlinkShell::available() function. The issue is caused by a race condition between the MAVLink receiver thread (which handles shell creation/destruction) and the telemetry sender thread (which polls the shell for available output). The issue is remotely triggerable via MAVLink SERIAL_CONTROL messages (ID 126), which can be sent by an external ground station or automated script. This vulnerability is fixed in 1.17.0-rc1.

Scores

CVSS	Score	Vector	Source
3.1	5.3 Medium	CVSS:3.1/AV:A/AC:H/PR:N/UI:N/S:U/C:N/I:N/A:H	GitHub_M

Weaknesses

CWE-416 Use After Free

Affected Products

Product	Versions
PX4-AutopilotPX4	< 1.17.0-rc1Affected

References

https://github.com/PX4/PX4-Autopilot/security/advisories/GHSA-j5w2-w79c-mqrw

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