# LrrK Kinematic Software Danger Report

**LRRK Watch / Software Assurance** — Monthly filing.

| Field | Value |
| --- | --- |
| Collection cutoff | 31 March 2020 |
| Platform | Quiet Systems |
| Series | DKSR-M-2020-03 |
| Status | short |
| Data label | Open-source intelligence // LRRK analytic product |
| Handling | Public-source material. Retrospective monthly. Image rights require separate verification before publication. |

## Executive read

### BLUF

ArduPilot #13860 is the first in-window public record that MAVLink 2 signing still takes its anti-replay clock from GPS time. Maintainers disputed operational width.

### Key judgments

1. **[Assessment — High confidence]** Issue opened 22 March 2020. Copter 3.5.5 / IRIS+ / Pixhawk1.
2. **[Uncertainty]** Whether a later build still accepts the initial-time set was not re-tested.
3. **[Inference — Moderate confidence]** This is the GPS-time argument the 2026 journal later cites.

### Analytic labels

- **Fact** — verified reporting or primary record
- **Assessment** — analytic judgment
- **Inference** — reasoned but not directly observed
- **Uncertainty** — unresolved information gap

### Source grades

- **A1** — authoritative primary record / directly confirmed
- **B1–B2** — generally reliable and corroborated
- **C3** — useful but requires caution

## 01. ArduPilot #13860: MAVLink 2 signing vs GPS time

*Event / publication dates: 22 March 2020 (GitHub created). Closed 26 March 2020 after discussion.*

| Field | Value |
| --- | --- |
| Component | firmware |
| Product | ArduPilot (reporter: Copter 3.5.5 on 3DR IRIS+ / Pixhawk1; reporter states all platforms) |
| CVE / advisory | no CVE. ArduPilot/ardupilot#13860 |
| Patch | none as a dedicated CVE fix |
| Exploit status | public writeup |
| Taxonomy | CWE-345 (class) · CAPEC-148 · OWASP IoT I7 |

**Verified record — [Fact — A1] https://github.com/ArduPilot/ardupilot/issues/13860**

**Exposure.** Signing anti-replay bound to spoofable GNSS time. Sense collapsing Control Fabric.

**Intelligence assessment.** [Assessment — High confidence] Mechanism as claimed in the issue. [Uncertainty] Maintainer dispute on operational impact (timestamps only move forward once set).

**Opportunity.** Passport the time source for signing. Do not treat “signing on” as enough.

**LRRK relevance.** Sense-to-Control-Fabric.

**Confidence.** High on the issue. Moderate on later-build width.

## Forward indicators

1. Alias CVE trio (June 2020) — different failure (no auth / downgrade), same protocol.
2. IEEE TComm 2026 journal treatment.

> **Collection integrity.** One issue. ATT&CK GNSS technique omitted (no clean official ID). No exploit steps.

*LRRK — security assurance for systems that sense, move, and act.*

<p align="right"><span style="opacity:0.35;letter-spacing:0.18em;font-size:0.8em">L-C2</span></p>