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

{
  "id": "dcb5c12dc9a692b19734af08491b0bd8c4700ad2a1a103ab6402ff63a5a89a3f",
  "url": "https://osv.dev/vulnerability/CVE-2026-32724",
  "method": "structured",
  "payload": {
    "kind": "advisory",
    "title": "PX4 autopilot has a heap Use-After-Free in MavlinkShell::available() via SERIAL_CONTROL Race Condition",
    "summary": "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.",
    "evidence": "osv:CVE-2026-32724",
    "products": [],
    "severity": "medium",
    "structured": {
      "id": "CVE-2026-32724",
      "aliases": [
        "CVE-2026-32724",
        "GHSA-j5w2-w79c-mqrw"
      ],
      "metrics": [
        {
          "type": "CVSS_V3",
          "score": "CVSS:3.1/AV:A/AC:H/PR:N/UI:N/S:U/C:N/I:N/A:H"
        }
      ],
      "affected": [
        {
          "ranges": [
            {
              "repo": "https://github.com/px4/px4-autopilot",
              "type": "GIT",
              "events": [
                {
                  "introduced": "0"
                },
                {
                  "fixed": "d6f12ad1c4f70ad3230afd7d86e971421e02fef4"
                },
                {
                  "introduced": "c2fb48990aacebc938c4e9998c7d5348f858fd22"
                },
                {
                  "last_affected": "15f5fefa0c7cdc5c7d04d870ddfe9aa4ba82b42b"
                }
              ],
              "database_specific": {
                "extracted_events": [
                  {
                    "cpe": "cpe:2.3:a:dronecode:px4_drone_autopilot:*:*:*:*:*:*:*:*",
                    "range": [
                      {
                        "introduced": "0"
                      },
                      {
                        "fixed": "1.17.0"
                      }
                    ],
                    "source": "CPE_RANGE"
                  },
                  {
                    "cpe": "cpe:2.3:a:dronecode:px4_drone_autopilot:1.17.0:alpha1:*:*:*:*:*:*",
                    "range": [
                      {
                        "introduced": "1.17.0-alpha1"
                      },
                      {
                        "last_affected": "1.17.0-alpha1"
                      }
                    ],
                    "source": "CPE_STRING"
                  },
                  {
                    "cpe": "cpe:2.3:a:dronecode:px4_drone_autopilot:1.17.0:beta1:*:*:*:*:*:*",
                    "range": [
                      {
                        "introduced": "1.17.0-beta1"
                      },
                      {
                        "last_affected": "1.17.0-beta1"
                      }
                    ],
                    "source": "CPE_STRING"
                  }
                ]
              }
            }
          ],
          "versions": [
            "1.17.0-alpha1",
            "1.17.0-beta1",
            "v1.17.0-beta1",
            "v1.17.0-alpha1"
          ],
          "database_specific": {
            "source": "https://storage.googleapis.com/cve-osv-conversion/osv-output/CVE-2026-32724.json"
          }
        }
      ],
      "modified": "2026-10-28T02:30:35.297880180Z",
      "provider": "osv",
      "references": [
        "https://github.com/CVEProject/cvelistV5/tree/main/cves/2026/32xxx/CVE-2026-32724.json",
        "https://github.com/PX4/PX4-Autopilot/security/advisories/GHSA-j5w2-w79c-mqrw",
        "https://nvd.nist.gov/vuln/detail/CVE-2026-32724"
      ],
      "provider_metadata": {
        "cwe_ids": [
          "CWE-416"
        ],
        "cna_assigner": "GitHub_M",
        "osv_generated_from": "https://github.com/CVEProject/cvelistV5/tree/main/cves/2026/32xxx/CVE-2026-32724.json"
      }
    },
    "related_cves": [
      {
        "value": "CVE-2026-32724",
        "evidence": "/id"
      }
    ],
    "security_relevant": true,
    "severity_evidence": "/severity/0/score"
  },
  "source_id": "core-osv",
  "document_id": 502238,
  "published_at": "2026-03-13T21:39:19.207+00:00"
}