ArduPilot PR 35023, opened 4 November, reports that an authenticated secure command could be captured and reused later in the same session because its signed sequence number was not retained by the receiver. The patch adds an ordering window to reject duplicates and stale commands.
Thu, 5 Nov 2026
Authentication proves who signed a command; it does not guarantee the command is fresh or should be repeated.
The patch is unmerged. Its author tested a replay harness and sanitizers in SITL, not production hardware. Confirm session lifetime and command freshness controls before calling an installed firmware protected.