CVE-2026-86713

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.

References

• https://github.com/PX4/PX4-Autopilot
• https://github.com/PX4/PX4-Autopilot/blob/v1.17.0/src/modules/load_mon/LoadMon.cpp
• https://github.com/PX4/PX4-Autopilot/commit/354823e2efd8dd7ac47f4b8984b8e0fb06dc3b79
• https://github.com/PX4/PX4-Autopilot/pull/28544
• https://www.vulncheck.com/advisories/px4-autopilot-through-1.17.0-use-after-free-in-load-mon