Vulnerability · Published Mar 13, 2026 · Assigned by GitHub_M

CVE-2026-32724PX4 autopilot has a heap Use-After-Free in MavlinkShell::available() via SERIAL_CONTROL Race Condition

Medium 5.3

In plain English

A medium-severity use-after-free in PX4-Autopilot from PX4. Proof-of-concept exploit code is public. The chance it is exploited in the next 30 days is estimated at 0.2% (higher than 16% of all known vulnerabilities).

Severity (CVSS 3.1)5.3Medium

Exploit odds (30 days)0.2%top 83.7% of all CVEs

Exploited in the wildNo reportsCISA SSVC: poc

Attack toolingNoneno public tooling known

Official 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.

Affected products (as reported)

Vendor	Product	Versions
PX4	PX4-Autopilot	< 1.17.0-rc1

Weakness: CWE-416 · Vector: CVSS:3.1/AV:A/AC:H/PR:N/UI:N/S:U/C:N/I:N/A:H

References

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