{"id":"CVE-2026-86713","summary":"PX4 Autopilot through 1.17.0 Use-After-Free in load_mon","details":"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.","modified":"2026-09-10T08:14:34.592382Z","published":"2026-09-08T11:23:05.792Z","database_specific":{"cna_assigner":"VulnCheck","cwe_ids":["CWE-416"],"osv_generated_from":"https://github.com/CVEProject/cvelistV5/tree/main/cves/2026/86xxx/CVE-2026-86713.json"},"references":[{"type":"ADVISORY","url":"https://github.com/CVEProject/cvelistV5/tree/main/cves/2026/86xxx/CVE-2026-86713.json"},{"type":"ADVISORY","url":"https://nvd.nist.gov/vuln/detail/CVE-2026-86713"},{"type":"ADVISORY","url":"https://www.vulncheck.com/advisories/px4-autopilot-through-1.17.0-use-after-free-in-load-mon"},{"type":"FIX","url":"https://github.com/PX4/PX4-Autopilot/commit/354823e2efd8dd7ac47f4b8984b8e0fb06dc3b79"},{"type":"FIX","url":"https://github.com/PX4/PX4-Autopilot/pull/28544"},{"type":"PACKAGE","url":"https://github.com/PX4/PX4-Autopilot"},{"type":"ARTICLE","url":"https://github.com/PX4/PX4-Autopilot/blob/v1.17.0/src/modules/load_mon/LoadMon.cpp"}],"affected":[{"ranges":[{"type":"GIT","repo":"https://github.com/px4/px4-autopilot","events":[{"introduced":"0"},{"fixed":"d6f12ad1c4f70ad3230afd7d86e971421e02fef4"},{"fixed":"354823e2efd8dd7ac47f4b8984b8e0fb06dc3b79"}],"database_specific":{"source":["DESCRIPTION","REFERENCES"],"extracted_events":[{"introduced":"0"},{"fixed":"1.17.0"}]}}],"versions":["v1.18.0-beta1","v1.18-beta1","v1.18.0-alpha1","v1.17.0-rc2","v1.17.0-rc1","v1.17.0-beta1","v1.17.0-alpha1","v1.16.0-rc1","v1.16.0-beta1","v1.16.0-alpha2","v1.16.0-alpha1","v1.15.0-beta1","v1.15.0-alpha1","v1.14.0-beta2","v1.14.0-beta1","v1.13.0-beta1","v1.12.0-rc1","v1.12.0","v1.13.0-alpha1","v1.12.0-beta6","v1.12.0-beta5","v1.12.0-beta4","v1.12.0-beta3","v1.12.0-beta2","v1.11.0-rc3","v1.11.0-rc2","v1.11.0-rc1","v1.11.0-beta2","v1.11.0-beta1","v1.10.0-beta4","v1.10.0-beta3","v1.10.0-beta2","v1.10.0-beta1","v1.9.0-rc2","v1.9.0","v1.9.0-rc1","v1.9.0-rc0","v1.9.0-beta3","v1.9.0-beta2","v1.9.0-beta1","v1.9.0-alpha","v1.8.0","v1.8.0-rc0","v1.8.0-beta2","v1.8.0-beta1","v1.7.4beta","v1.7.3","v1.7.3beta","v1.7.2","v1.7.1","v1.7.0","v1.7.0-rc4","v1.7.0-rc3","v1.7.0-rc2","v1.7.0-rc1","v1.7.0-rc0","v1.6.5","v1.6.4","v1.6.2","v1.6.0-rc4","v1.6.0-rc3","v1.6.0-rc2","v1.6.0rc1","v1.5.2","v1.5.1","v1.5.1rc4","v1.5.1rc3","v1.5.1rc2","v1.5.0","v1.4.4rc1","v1.4.3","v1.4.2","v1.4.1","v1.4.1rc4","v1.4.1rc3","v1.4.1rc2","v1.4.1rc1","v1.4.0rc4","v1.4.0rc3","v1.4.0rc2","v1.4.0rc1","v1.3.2","v1.3.0rc3","v1.3.0rc2","v1.3.0rc1","v1.1.3","v1.1.2","v1.1.1","v1.1.0beta3","v1.1.0beta1","v1.0.0beta2","v1.0.0rc12","v1.0.0rc9","v1.0.0rc10","v1.0.0rc8","v1.0.0rc7","v1.0.0-rc3","v1.0.0-rc2","v1.0.0-rc1"],"database_specific":{"source":"https://storage.googleapis.com/cve-osv-conversion/osv-output/CVE-2026-86713.json","vanir_signatures_modified":"2026-09-10T08:14:34Z","vanir_signatures":[{"signature_type":"Line","signature_version":"v1","source":"https://github.com/px4/px4-autopilot/commit/354823e2efd8dd7ac47f4b8984b8e0fb06dc3b79","target":{"file":"src/modules/load_mon/LoadMon.cpp"},"deprecated":false,"digest":{"line_hashes":["149262438219156657427330721570557543698","29259417594676830059791523353536376503","157597942542618446988934207848652649586","63250501644826351912177081840001767860","109871779332724677488515334428462396610","332432621111689685404151798053145891255","103581683922226220955262216267028117811","21149207992777737446946542847354672277","216949102175933764123023687925164405532","70995073674638572418035920361039611472","38054124331366222919161460863798180474"],"threshold":0.9},"id":"CVE-2026-86713-296644a5"},{"digest":{"function_hash":"300104444026944738685721661017213238101","length":495},"id":"CVE-2026-86713-6f572427","signature_type":"Function","signature_version":"v1","source":"https://github.com/px4/px4-autopilot/commit/354823e2efd8dd7ac47f4b8984b8e0fb06dc3b79","target":{"function":"LoadMon::Run","file":"src/modules/load_mon/LoadMon.cpp"},"deprecated":false}]}}],"schema_version":"1.9.0","severity":[{"type":"CVSS_V4","score":"CVSS:4.0/AV:A/AC:L/AT:N/PR:N/UI:N/VC:N/VI:L/VA:H/SC:N/SI:N/SA:N"}]}