{
  "affected": [
    {
      "ranges": [
        {
          "database_specific": {
            "extracted_events": [
              {
                "introduced": "0"
              },
              {
                "fixed": "1.17.0"
              }
            ],
            "source": [
              "DESCRIPTION",
              "REFERENCES"
            ]
          },
          "events": [
            {
              "introduced": "0"
            },
            {
              "fixed": "d6f12ad1c4f70ad3230afd7d86e971421e02fef4"
            },
            {
              "fixed": "354823e2efd8dd7ac47f4b8984b8e0fb06dc3b79"
            }
          ],
          "repo": "https://github.com/px4/px4-autopilot",
          "type": "GIT"
        }
      ]
    }
  ],
  "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"
  },
  "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.",
  "id": "CVE-2026-86713",
  "modified": "2026-09-10T03:30:37.229634988Z",
  "published": "2026-09-08T11:23:05.792Z",
  "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"
    }
  ],
  "schema_version": "1.9.0",
  "severity": [
    {
      "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",
      "type": "CVSS_V4"
    }
  ],
  "summary": "PX4 Autopilot through 1.17.0 Use-After-Free in load_mon"
}