{
  "affected": [
    {
      "ranges": [
        {
          "events": [
            {
              "introduced": "0"
            },
            {
              "fixed": "61904bc14a9c34f5f87012410b5f473e074e55d8"
            }
          ],
          "repo": "https://github.com/px4/px4-autopilot",
          "type": "GIT"
        }
      ]
    }
  ],
  "aliases": [
    "GHSA-j5w2-w79c-mqrw"
  ],
  "database_specific": {
    "cna_assigner": "GitHub_M",
    "cwe_ids": [
      "CWE-416"
    ],
    "osv_generated_from": "https://github.com/CVEProject/cvelistV5/tree/main/cves/2026/32xxx/CVE-2026-32724.json"
  },
  "details": "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.",
  "id": "CVE-2026-32724",
  "modified": "2026-04-01T23:09:30.160555456Z",
  "published": "2026-03-13T21:39:19.207Z",
  "references": [
    {
      "type": "ADVISORY",
      "url": "https://github.com/CVEProject/cvelistV5/tree/main/cves/2026/32xxx/CVE-2026-32724.json"
    },
    {
      "type": "ADVISORY",
      "url": "https://github.com/PX4/PX4-Autopilot/security/advisories/GHSA-j5w2-w79c-mqrw"
    },
    {
      "type": "ADVISORY",
      "url": "https://nvd.nist.gov/vuln/detail/CVE-2026-32724"
    }
  ],
  "schema_version": "1.7.3",
  "severity": [
    {
      "score": "CVSS:3.1/AV:A/AC:H/PR:N/UI:N/S:U/C:N/I:N/A:H",
      "type": "CVSS_V3"
    }
  ],
  "summary": "PX4 autopilot has a heap Use-After-Free in MavlinkShell::available() via SERIAL_CONTROL Race Condition"
}