PX4 Autopilot 1.14 and earlier, due to the lack of synchronization mechanism for loading geofence data, has a Race Condition vulnerability in the geofence.cpp and missionfeasibilitychecker.cpp. This will result in the drone uploading overlapping geofences and mission routes.
A Race Condition discovered in geofence.cpp and missionfeasibilitychecker.cpp in PX4 Autopilot 1.14 and earlier allows attackers to send drones on unintended missions.