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**Name of the Vulnerable Software and Affected Versions** PX4 Autopilot versions 1.12.x through 1.15.x **Description** The autopilot software contains a logic flaw in the mode switching mechanism. Specifically, when transitioning from Auto mode to Manual mode while the drone is in the "ARMED" state – after landing and before the automatic disarm triggered by the `COM DISARM LAND` parameter – a safety check for the physical throttle stick is missing. This can lead to loss of control, rapid uncontrolled ascent (flyaway), and potential property damage. **Recommendations** Versions 1.12.x through 1.15.x should be updated when a fix is available.

**Name of the Vulnerable Software and Affected Versions** PX4 Autopilot versions 1.12.x through 1.15.x **Description** The software contains a flaw in the protection mechanism within the 'Re-arm Grace Period' logic. The system incorrectly applies in-air emergency re-arm logic to ground scenarios. Switching to Manual mode and re-arming within 5 seconds of an automatic landing bypasses pre-flight safety checks, including the throttle threshold check. This allows for immediate high-thrust takeoff if the throttle stick is raised, potentially leading to loss of control. **Recommendations** Versions 1.12.x through 1.15.x: Avoid switching to Manual mode and re-arming within 5 seconds after an automatic landing.