---
id: CVE-2026-86096
title: >-
  PX4 Autopilot through 1.17.0 contains a use-after-free vulnerability in
  TemperatureCalibration::start() due to a race condition between task spawning
  and object deletion
summary: >-
  PX4 Autopilot through 1.17.0 contains a use-after-free vulnerability in
  TemperatureCalibration::start() due to a race condition between task spawning
  and object deletion. Attackers can trigger the calibration process via shell
  commands t…
severity: medium
cvss: 5.9
cvssVector: 'CVSS:3.1/AV:A/AC:H/PR:N/UI:N/S:U/C:N/I:L/A:H'
cwe:
  - CWE-416
vendor: PX4
product: PX4-Autopilot
affected:
  - PX4-Autopilot <= 1.17.0
published: '2026-09-04'
updated: '2026-09-10'
sourceUpdated: '2026-09-10T16:18:01.297'
source: NVD
sourceUrl: 'https://nvd.nist.gov/vuln/detail/CVE-2026-86096'
references:
  - url: 'https://github.com/PX4/PX4-Autopilot'
    label: disclosure@vulncheck.com
  - url: >-
      https://github.com/PX4/PX4-Autopilot/blob/v1.17.0/src/modules/temperature_compensation/temperature_calibration/task.cpp
    label: disclosure@vulncheck.com
  - url: >-
      https://github.com/PX4/PX4-Autopilot/commit/b182e523d154fe029a49b48bb5f9d3d6693bc6bb
    label: disclosure@vulncheck.com
  - url: 'https://github.com/PX4/PX4-Autopilot/pull/28487'
    label: disclosure@vulncheck.com
  - url: >-
      https://www.vulncheck.com/advisories/px4-autopilot-through-1.17.0-use-after-free-via-temperature-calibration-task-startup
    label: disclosure@vulncheck.com
tags:
  - nvd
  - cve.org
ssvc:
  exploitation: none
  automatable: 'no'
  technicalImpact: partial
  timestamp: '2026-09-10T14:19:15.902455Z'
ingestedAt: '2026-09-14T08:39:46.561Z'
epss: 0.00219
epssPercentile: 0.12568
---

## Overview

PX4 Autopilot through 1.17.0 contains a use-after-free vulnerability in TemperatureCalibration::start() due to a race condition between task spawning and object deletion. Attackers can trigger the calibration process via shell commands to write to freed heap memory, corrupting unrelated objects or allocator metadata and destabilizing heap operations.

## Remediation

Refer to the linked advisories for vendor-supplied fixes and affected version ranges.