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

Quick assessment

Affected
PX4 PX4-Autopilot
Exploitation
No confirmed in-the-wild exploitation; assess based on exposure
Recommended action
Check the vendor advisory and references for a fixed version. If immediate upgrade is impossible, restrict exposure and increase monitoring.

PX4-Autopilot是PX4 Autopilot开源的一个无人机自动驾驶系统。 PX4-Autopilot 1.17.0-rc1之前版本存在资源管理错误漏洞，该漏洞源于MavlinkShell::available函数中存在释放后重用，可能导致通过MAVLink SERIAL_CONTROL消息远程触发。

CVSS 5.3 · Medium EPSS 0.24% · P14
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I. Basic Information for CVE-2026-32724

Vulnerability Information
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Vulnerability Title
PX4 autopilot has a heap Use-After-Free in MavlinkShell::available() via SERIAL_CONTROL Race Condition
Source: CVE Program / CVE List V5
Vulnerability 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.
Source: CVE Program / CVE List V5
CVSS Information
CVSS:3.1/AV:A/AC:H/PR:N/UI:N/S:U/C:N/I:N/A:H
Source: CVE Program / CVE List V5
Vulnerability Type
释放后使用
Source: CVE Program / CVE List V5
Vulnerability Title
PX4-Autopilot 资源管理错误漏洞
Source: CNNVD (China National Vulnerability Database)
Vulnerability Description
PX4-Autopilot是PX4 Autopilot开源的一个无人机自动驾驶系统。 PX4-Autopilot 1.17.0-rc1之前版本存在资源管理错误漏洞，该漏洞源于MavlinkShell::available函数中存在释放后重用，可能导致通过MAVLink SERIAL_CONTROL消息远程触发。
Source: CNNVD (China National Vulnerability Database)
CVSS Information
N/A
Source: CNNVD (China National Vulnerability Database)
Vulnerability Type
N/A
Source: CNNVD (China National Vulnerability Database)

Affected Products

Vendor Product Affected Versions CPE Subscribe
PX4 PX4-Autopilot < 1.17.0-rc1 -

II. Public POCs for CVE-2026-32724

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III. Intelligence Information for CVE-2026-32724

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Vendor Advisories for CVE-2026-32724 (1)

Same Patch Batch · PX4 · 2026-03-13 · 7 CVEs total

CVE-2026-32708 7.8 HIGH Zenoh uORB Subscriber Allows Arbitrary Stack Allocation (PX4/PX4-Autopilot)
CVE-2026-32706 7.1 HIGH PX4 autopilot has a global buffer overflow in crsf_rc via oversized variable-length known
CVE-2026-32705 6.8 MEDIUM PX4 autopilot BST Device Name Length Can Overflow Driver Buffer
CVE-2026-32709 5.4 MEDIUM PX4 Autopilot MAVLink FTP Unauthenticated Path Traversal (Arbitrary File Read/Write/Delete
CVE-2026-32707 5.2 MEDIUM PX4 autopilot has a stack buffer overflow in tattu_can due to unbounded memcpy in frame as
CVE-2026-32713 4.3 MEDIUM PX4 Autopilot MAVLink FTP Session Validation Logic Error Allows Operations on Invalid File

IV. Related Vulnerabilities

Same product: PX4-Autopilot
Same vendor: PX4
Same weakness: CWE-416

V. Comments for CVE-2026-32724

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