# LrrK Kinematic Software Danger Report

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

| Field | Value |
| --- | --- |
| Collection cutoff | 31 October 2021 |
| Platform | Quiet Systems |
| Series | DKSR-M-2021-10 |
| 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

PX4’s MAVLink receiver overflows on TRAJECTORY_REPRESENTATION_WAYPOINTS (msgid 332). Crash of the flight stack. Fix PR the same day. CVE number is 2023.

### Key judgments

1. **[Assessment — High confidence]** Issue #18369 and PR #18371 on 6 October 2021.
2. **[Assessment — High confidence]** This is in-window PX4 memory safety on a MAVLink command path.
3. **[Assessment — High confidence]** CVE-2021-46896 NVD 6 July 2023 is catalogue, not this month.

### 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. PX4 #18369: MAVLink msgid 332 buffer overflow

*Event / publication dates: 6 October 2021 (issue and fix PR). CVE-2021-46896 NVD 6 July 2023 not used for dating.*

| Field | Value |
| --- | --- |
| Component | software |
| Product | PX4-Autopilot (reporter: SITL and px4_fmu-v5 / nxp_fmuk66-v3) |
| CVE / advisory | no CVE in 2021. Later CVE-2021-46896. #18369 / PR #18371 |
| Patch | available — same-day PR; reporter confirmed crash gone |
| Exploit status | public writeup. Later catalogued |
| Taxonomy | CWE-120 (class) · ATT&CK ICS T0814 · OWASP IoT I2 |

**Verified record — [Fact — A1] https://github.com/PX4/PX4-Autopilot/issues/18369**

**Exposure.** Oversized valid_points crashes the autopilot. Loss of C2 / flight-stack DoS.

**Intelligence assessment.** [Assessment — High confidence] GitHub-first date, class, and same-day patch.

**Opportunity.** Do not file July 2023 as a new PX4 overflow. Passport ≥ the 18371 commit.

**LRRK relevance.** Control Fabric.

**Confidence.** High.

## Forward indicators

1. CVE-2021-46896 catalogue (July 2023) — index only.
2. Later SERIAL_CONTROL overflow cluster (2024–2026) — same stack, different message.

> **Collection integrity.** Sample packet in the issue is not reproduced here. 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>