CVE-2026-86713 in Autopilot
Summary
by MITRE • 09/08/2026
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.
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Analysis
by VulDB Data Team • 09/08/2026
The identified vulnerability resides within the PX4 Autopilot software suite, specifically affecting versions up to 1.17.0 in the load_mon module responsible for monitoring system load metrics. This flaw is classified as a use-after-free condition, which occurs when program execution continues to access memory that has already been deallocated by the runtime environment. In this specific implementation, the defect lies within the cleanup sequence triggered during the termination of the load monitoring process. When the stop command is issued via either the PX4 Shell (PXH) or MAVLink interface, the system invokes an exit_and_cleanup function designed to release resources associated with the LoadMon object and its corresponding performance counters. However, this function prematurely frees the memory allocated for these objects before all dependent operations have completed their execution cycle.
The technical root cause involves a race condition in resource management where the perf_end routine attempts to read from or write to the performance counter data structure after it has been deleted by exit_and_cleanup. Because the memory is returned to the heap allocator but not immediately zeroed out, subsequent access results in undefined behavior characterized by reads and writes through freed pointers. This corruption of heap objects can lead to severe instability within the flight control stack, potentially causing crashes or erratic system behavior during critical phases of operation. The vulnerability allows for remote code execution scenarios if an attacker can manipulate the contents of the freed memory region before it is reallocated for other purposes, although in this context, the primary impact observed is destabilization of the autopilot software rather than direct privilege escalation.
From a threat modeling perspective, this flaw aligns with CWE-416: Use After Free, which describes situations where pointers are used after they have been freed leading to unpredictable behavior and potential security breaches. Furthermore, given that the vulnerability can be triggered via MAVLink commands from any connected shell, it falls under MITRE ATT&CK technique T1059: Command and Scripting Interpreter, specifically involving local command execution through an authorized interface. The ability of an attacker with access to the PXH or MAVLink connection points to exploit this issue highlights a significant gap in input validation and state management within the autopilot's administrative interfaces. Such exposure could allow malicious actors who have gained network access to the drone’s communication links to disrupt flight operations by inducing memory corruption, thereby compromising the integrity of the vehicle's control systems.
The operational impact of this vulnerability is substantial for autonomous aerial vehicles relying on PX4 for stability and navigation. A successful exploitation can lead to a denial of service condition where the autopilot crashes or behaves unpredictably due to corrupted heap structures. In worst-case scenarios involving complex memory layouts, an attacker might achieve arbitrary code execution by carefully crafting payloads that overwrite function pointers within the freed memory space before it is reused. This poses a direct threat to physical safety as loss of control over the aircraft could result in collision with obstacles or other vehicles. The vulnerability underscores the critical importance of proper lifecycle management for software components handling real-time performance metrics, particularly those exposed through external command interfaces that may be accessible to unauthorized users if network security measures are insufficient.
Mitigation strategies must focus on both immediate patching and long-term architectural improvements. For organizations currently running affected versions, upgrading to a patched release beyond version 1.17.0 is the primary remediation step as it addresses the ordering issue within the load_mon module's cleanup routine. Developers should ensure that perf_end calls are completed before any deallocation of associated performance counter structures occurs in future code revisions. Additionally, implementing strict access controls on MAVLink and PXH interfaces can reduce the attack surface by limiting who can execute stop commands or other administrative functions. Employing static analysis tools during development to detect use-after-free patterns early in the software lifecycle will help prevent similar defects from being introduced into critical flight control modules. Regular security audits of autopilot codebases against industry standards like CWE and ATT&CK frameworks are essential for maintaining robust defense-in-depth postures against evolving threats targeting embedded systems.