Ramon Roche
96f90f6602
Tighten path validation in MavlinkFTP so that FTP write operations consistently reject unsafe targets and resolve symlinks before checking the result against the FTP root. Add a new helper _validatePathIsInRoot() that canonicalizes the requested path with realpath() and verifies the result is contained inside PX4_STORAGEDIR. For paths that do not yet exist (CreateFile, CreateDirectory) the parent directory is canonicalized and the leaf name reattached so the check still produces a meaningful result. NuttX falls back to the previous string based prefix and traversal check because realpath() is not available there. Rewrite _validatePathIsWritable() to call the new in-root check on all platforms, and to deny writes that target the boot executed startup hook subtree (PX4_STORAGEDIR /etc/). Drop the NuttX only ifdef around the existing prefix check so the same logic runs on POSIX builds too. Apply _validatePathIsWritable() in _workOpen() for write mode opens (O_WRONLY or O_RDWR), and add the missing _validatePath() call to _workWrite() so the WriteFile opcode now matches the pattern used by the other write capable opcodes. Open the leaf file with O_NOFOLLOW where the platform provides it so a TOCTOU race cannot redirect the leaf through a symlink between validation and open(2). Refs: GHSA-c6f8-f7w2-785x, GHSA-93v7-287q-qx4g Signed-off-by: Ramon Roche <mrpollo@gmail.com>
The autopilot stack the industry builds on.
About
PX4 is an open-source autopilot stack for drones and unmanned vehicles. It supports multirotors, fixed-wing, VTOL, rovers, and many more experimental platforms from racing quads to industrial survey aircraft. It runs on NuttX, Linux, and macOS. Licensed under BSD 3-Clause.
Why PX4
Modular architecture. PX4 is built around uORB, a DDS-compatible publish/subscribe middleware. Modules are fully parallelized and thread safe. You can build custom configurations and trim what you don't need.
Wide hardware support. PX4 runs on a wide range of autopilot boards and supports an extensive set of sensors, telemetry radios, and actuators through the Pixhawk ecosystem.
Developer friendly. First-class support for MAVLink and DDS / ROS 2 integration. Comprehensive SITL simulation, hardware-in-the-loop testing, and log analysis tools. An active developer community on Discord and the weekly dev call.
Vendor neutral governance. PX4 is hosted under the Dronecode Foundation, part of the Linux Foundation. Business-friendly BSD-3 license. No single vendor controls the roadmap.
Supported Vehicles
 Multicopter |
 Fixed Wing |
 VTOL |
 Rover |
…and many more: helicopters, autogyros, airships, submarines, boats, and other experimental platforms. These frames have basic support but are not part of the regular flight-test program. See the full airframe reference.
Quick Start
git clone https://github.com/PX4/PX4-Autopilot.git --recursive
cd PX4-Autopilot
make px4_sitl
Note
See the Development Guide for toolchain setup and build options.
Documentation & Resources
| Resource | Description |
|---|---|
| User Guide | Build, configure, and fly with PX4 |
| Developer Guide | Modify the flight stack, add peripherals, port to new hardware |
| Airframe Reference | Full list of supported frames |
| Autopilot Hardware | Compatible flight controllers |
| Release Notes | What's new in each release |
| Contribution Guide | How to contribute to PX4 |
Community
- Weekly Dev Call — open to all developers (Dronecode calendar)
- Discord — Join the Dronecode server
- Discussion Forum — PX4 Discuss
- Maintainers — see
MAINTAINERS.md - Contributor Stats — LFX Insights
Contributing
We welcome contributions of all kinds — bug reports, documentation, new features, and code reviews. Please read the Contribution Guide to get started.
Governance
The PX4 Autopilot project is hosted by the Dronecode Foundation, a Linux Foundation Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship — no single company owns the name or controls the roadmap. The source code is licensed under the BSD 3-Clause license, so you are free to use, modify, and distribute it in your own projects.
