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CVE-2026-86713— PX4 Autopilot through 1.17.0 Use-After-Free in load_mon

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 PX4是PX4 Autopilot组织开源的一款面向无人载具的飞行控制与自主导航软件系统。 PX4 Autopilot PX4 1.17.0及之前版本存在资源管理错误漏洞，该漏洞源于load_mon模块停止路径中的释放后重用，exit_and_cleanup()删除LoadMon对象并在perf_end()访问前释放性能计数器，攻击者可通过从PXH或MAVLink shell发出load_mon stop命令触发，导致对已释放内存的读写，从而破坏堆对象并影响飞行堆栈稳定性。

CVSS 7.1 · High EPSS 0.38% · P30

Possible ATT&CK Techniques 1 AI

T1190 · Exploit Public-Facing Application

Affected Version Matrix 1

VendorProduct Version RangeStatus
PX4 PX4-Autopilot ≤ 1.17.0 affected
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I. Basic Information for CVE-2026-86713

Vulnerability Information
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Vulnerability Title
PX4 Autopilot through 1.17.0 Use-After-Free in load_mon
Source: CVE Program / CVE List V5
Vulnerability Description
PX4 Autopilot through 1.17.0 contains a use-after-free vulnerability in the load_mon module's stop path where exit_and_cleanup() deletes the LoadMon object and frees the performance counter before perf_end() attempts to access it. Attackers can trigger this vulnerability by issuing the load_mon stop command from any PXH or MAVLink shell, causing reads and writes through freed memory that corrupt heap objects and destabilize the flight stack.
Source: CVE Program / CVE List V5
CVSS Information
CVSS:3.1/AV:A/AC:L/PR:N/UI:N/S:U/C:N/I:L/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 PX4 资源管理错误漏洞
Source: CNNVD (China National Vulnerability Database)
Vulnerability Description
PX4 Autopilot PX4是PX4 Autopilot组织开源的一款面向无人载具的飞行控制与自主导航软件系统。 PX4 Autopilot PX4 1.17.0及之前版本存在资源管理错误漏洞，该漏洞源于load_mon模块停止路径中的释放后重用，exit_and_cleanup()删除LoadMon对象并在perf_end()访问前释放性能计数器，攻击者可通过从PXH或MAVLink shell发出load_mon stop命令触发，导致对已释放内存的读写，从而破坏堆对象并影响飞行堆栈稳定性。
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 0 ~ 1.17.0 -

II. Public POCs for CVE-2026-86713

# POC Description Source Link Shenlong Link
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III. Intelligence Information for CVE-2026-86713

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Patches & Fixes for CVE-2026-86713 (1)

Vendor Advisories for CVE-2026-86713 (1)

Proof of Concept for CVE-2026-86713 (1)

Vendor Pages for CVE-2026-86713 (1)

IV. Related Vulnerabilities

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

V. Comments for CVE-2026-86713

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