---
id: CVE-2026-86713
title: >-
  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
summary: >-
  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. Attack…
severity: high
cvss: 7.1
cvssVector: 'CVSS:3.1/AV:A/AC:L/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: '2026-09-08'
updated: '2026-09-08'
sourceUpdated: '2026-09-08T19:54:50.793'
source: NVD
sourceUrl: 'https://nvd.nist.gov/vuln/detail/CVE-2026-86713'
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/load_mon/LoadMon.cpp
    label: disclosure@vulncheck.com
  - url: >-
      https://github.com/PX4/PX4-Autopilot/commit/354823e2efd8dd7ac47f4b8984b8e0fb06dc3b79
    label: disclosure@vulncheck.com
  - url: 'https://github.com/PX4/PX4-Autopilot/pull/28544'
    label: disclosure@vulncheck.com
  - url: >-
      https://www.vulncheck.com/advisories/px4-autopilot-through-1.17.0-use-after-free-in-load-mon
    label: disclosure@vulncheck.com
  - url: 'https://github.com/PX4/PX4-Autopilot/pull/28544'
    label: 134c704f-9b21-4f2e-91b3-4a467353bcc0
tags:
  - nvd
  - cve.org
  - exploit-available
exploitAvailable: true
ssvc:
  exploitation: poc
  automatable: 'no'
  technicalImpact: partial
  timestamp: '2026-09-08T12:19:36.303977Z'
ingestedAt: '2026-09-08T15:33:26.983Z'
epss: 0.00384
epssPercentile: 0.29801
---

## Overview

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.

## Remediation

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