Unmanned Aerial Vehicle (UAV) technologies are gaining high interest for many domains, which makes UAV security of utmost importance. ArduPilot is among the most widely used open-source autopilot UAV frameworks; yet, many studies demonstrate the vulnerabilities affecting such systems. Vulnerabilities within its communication subsystems (including WiFi, telemetry, or GPS) expose critical entry points, and vulnerabilities in Ardupilot can affect the control procedure. In this paper, we reconstruct the software architecture and the control models implemented by ArduPilot and then examine how these control models could potentially misused to induce malicious behaviors while relying on legitimate inputs.

翻译：无人机技术在许多领域正受到高度关注，这使得无人机安全至关重要。ArduPilot是最广泛使用的开源自动驾驶无人机框架之一；然而，许多研究揭示了影响此类系统的漏洞。其通信子系统（包括WiFi、遥测或GPS）中的漏洞暴露了关键入口点，而ArduPilot中的漏洞可能影响控制流程。本文重构了ArduPilot实现的软件架构与控制模型，并研究了这些控制模型如何可能被滥用，通过合法输入诱导恶意行为。