NVD / CVE Program· CNA GitHub_M

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

Noroxi assessment

Priority: Monitor (action score 21/100)

The sources we track (CISA KEV, Exploit-DB, Metasploit, Nuclei, GitHub) show no public exploit code or exploitation in the wild.
Probability of exploitation in the next 30 days: 0.27% (FIRST EPSS).
Someone on the same network segment can trigger it. No account or password is required. No user action is required. Special conditions such as timing or configuration are required.
Fixed version: PX4 PX4-Autopilot 1.17.0-rc1.

Low priority for now. Upgrade to PX4 PX4-Autopilot 1.17.0-rc1 or later.

Generated automatically from the record's data: CVSS (NVD and CNA), CISA KEV and SSVC, FIRST EPSS, exploit sources, fixed versions. How we calculate it

Primary sources: NVD · CVE.org · FIRST EPSS

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.

MediumCVSS 5.3 · v3.1—No exploit Fix available

Published: Mar 16, 2026
Updated: Jun 17, 2026
EPSS: 0.2% · 20th percentile
CWE: CWE-416

Report tools

JSON

Action score

Monitor

Low priority for now.

CVSS: 21 / 40 · 5.3 / 10
CISA KEV: 0 / 30 · Not listed
EPSS: 0 / 30 · 0.2%

CISA SSVC decision

Exploitation: proof of concept
Automatable: no
Technical impact: partial

Vulnrichment: CISA's decision-tree inputs.

CNA vs NVD score

NVD: —
CNA · GitHub_M: 5.3; NVD has not scored this yet; the score shown is the CNA’s.

The score given by the assigning authority versus NVD’s independent score. A gap means the severity is contested.

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Not in KEV: no record of exploitation in the wild
No public exploit code on record
A fix has been released

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Noroxi analysis

What does it mean in your environment?

The assessment above is generated automatically from the record's data; it doesn't know your environment. Our team verifies on your systems whether this vulnerability is actually exploitable and which mitigation is enough.

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Affected systems

Is your version affected?

Pick the product and type the version you run. It's compared with this record's version ranges in your browser; the version isn't sent anywhere.

Vendor	Product	CPE
dronecode	px4 drone autopilot	cpe:2.3:a:dronecode:px4_drone_autopilot

Affected versions

NVD version ranges (for catalog products). Add the product to your stack with a version and matching uses these.

dronecode px4 drone autopilotbefore 1.17.0
dronecode px4 drone autopilot1.17.0

Versions reported by the vendor

Affected version ranges reported by the assigning authority (GitHub_M). Independent of NVD's CPE analysis and usually ahead of it.

PX4 PX4-Autopilot
- < 1.17.0-rc1affected

Same product

dronecode: all records

Other highest-scoring records for the same primary product.

CVE-2023-46256PX4-Autopilot Heap Buffer Overflow Bug
39Monitor
CVE-2026-32708Zenoh uORB Subscriber Allows Arbitrary Stack Allocation (PX4/PX4-Autopilot)
32Monitor
CVE-2026-32706PX4 autopilot has a global buffer overflow in crsf_rc via oversized variable-length known packet
32Monitor

Published before and after this one in the same product

← EarlierCVE-2026-32709Mar 16, 2026 · PX4 Autopilot MAVLink FTP Unauthenticated Path Traversal (Arbitrary File Read/Write/Delete)
27Monitor
← EarlierCVE-2026-32713Mar 16, 2026 · PX4 Autopilot MAVLink FTP Session Validation Logic Error Allows Operations on Invalid File Descriptors
26Monitor
Later →CVE-2026-32743Mar 18, 2026 · PX4 Autopilot: Stack-based Buffer Overflow via Oversized Path Input in MAVLink Log Request Handling
26Monitor

Remediation

Which version to upgrade to

Fix versions compiled from the vendor, package registries and Microsoft. Verify the vendor's note before upgrading.

Product / package	Fixed version	Source
PX4 PX4-Autopilot	1.17.0-rc1 · description	Vendor (CNA)

Exploit status

No known public exploit

No public exploit has been observed yet. That doesn't mean you're safe, only that the bar is a little higher.

Research context

For pentesters and researchers: attack profile, score disagreement, timeline, patch commits, credits, variant and chain candidates, bug bounty scope. All derived from existing data; no exploit code.

Timeline

From publication to today: proof of concept, Metasploit module, CISA KEV and fix record. Dates are as reported by the sources.

No dated events beyond publication.

No history yet (it accumulates with the daily EPSS job).

Patch and commit links

Commit, PR and diff links among the references. A starting point for patch-diffing and variant hunting; fixes, not exploits.

No commit or PR link among the references.

Credits

All researchers

Finders, reporters and analysts named in the CNA record. Click a name for that researcher’s other records.

No credits in the CNA record.

Variant candidates

Same product, same weakness class, within 18 months. If the patch missed the root cause, the sibling bug is here.

No nightly-computed relations.

Chain candidates

An authentication bypass and a privilege-requiring bug in the same product, published close together: combined they may become an unauthenticated path.

—

Bug bounty scope

No known public program.

Source: bounty-targets-data (public HackerOne, Bugcrowd, Intigriti, YesWeHack listings).

Technical details

Attack conditions

Someone on the same network segment can trigger it.
No account or password is required.
No user action is required.
Special conditions such as timing or configuration are required.

If successful

Confidentiality: none
Integrity: none
Availability: high · the service can be disrupted

Attack vector: Adjacent
Attack complexity: High
Privileges required: None
User interaction: None
Scope: Unchanged
Confidentiality impact: None
Integrity impact: None
Availability impact: High

Weakness class (CWE)

CWE-416 · Use After Free

CVSS vector

CVSS:3.1/AV:A/AC:H/PR:N/UI:N/S:U/C:N/I:N/A:H

nvd-secondary

Root cause

After a memory region is freed, another reference pointing to it is still used. By then, the same region may have been allocated for different data.

The bug in code

The whole CWE-416 class

A representative example of this vulnerability class. Not the vendor's source code; it shows the faulty pattern and its fix.

Vulnerable

1free(dev->buf);
2/* ... another thread is still running ... */
3process(dev->buf);

Fixed

1lock(&dev->lock);
2free(dev->buf);
3dev->buf = NULL;
4unlock(&dev->lock);

Attack context

MITRE CAPEC attack patterns and ATT&CK techniques for this weakness class (CWE). A starting point for detection rules and threat hunting.

MITRE has no CAPEC/ATT&CK mapping for this CWE.

Change log

Fix✗ → ✓Sep 29, 2026, 11:55 AM UTC

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