Medium severity · published Mar 13, 2026
CVE-2026-32724
PX4 autopilot has a heap Use-After-Free in MavlinkShell::available() via SERIAL_CONTROL Race Condition
5.3
CVSS
0.3%
EPSS
No
On KEV
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.
CVSS vector
CVSS:3.1/AV:A/AC:H/PR:N/UI:N/S:U/C:N/I:N/A:H
Attack vector
Adjacent
Complexity
High
Privileges
None
User interaction
None
Confidentiality
None
Integrity
None
Availability
High
Scope
Unchanged
Exploitation
Is it being used?
Exploit prediction (EPSS)0.3% · higher than 18% of CVEs
Exploited in the wildNo evidence yet
CISA KEVNot listed
Ransomware campaign useNot known
Affected products
Which versions
PX
PX4-Autopilot · PX4
< 1.17.0-rc1 · source: vendor
PD
Px4 Drone Autopilot · Dronecode
before 1.17.0; 1.17.0; 1.17.0 · source: NVD
References
NVD
https://nvd.nist.gov/vuln/detail/CVE-2026-32724
CVE.org
https://www.cve.org/CVERecord?id=CVE-2026-32724
Exploit
https://github.com/PX4/PX4-Autopilot/security/advisories/GHSA-j5w2-w79c-mqrw
More from PX4-Autopilot
8.1
CVE-2026-32706
PX4 autopilot has a global buffer overflow in crsf_rc via oversized variable-length known packet
8.0
CVE-2026-32708
Zenoh uORB Subscriber Allows Arbitrary Stack Allocation (PX4/PX4-Autopilot)
7.8
CVE-2025-15150
PX4 PX4-Autopilot mavlink_log_handler.cpp log_entry_from_id stack-based overflow
7.1
CVE-2026-86713
PX4 Autopilot through 1.17.0 Use-After-Free in load_mon
6.8
CVE-2026-32709
PX4 Autopilot MAVLink FTP Unauthenticated Path Traversal (Arbitrary File Read/Write/Delete)