Worked on the Terrapin-Rocket-Team/Airbrake repository to enhance reliability and maintainability of the airbrake Kalman filter state estimation system. Addressed instability by implementing NaN handling in the Kalman filter, preserving previous state values and resetting to zero if invalid data persisted. Refactored the state update logic to improve robustness and memory management, and enabled deployment of the airbrake to a specific angle during the DEPLOY stage, increasing testability and operational safety. Updated dependencies to streamline integration with the latest Multi-Mission Flight Software stack. Utilized C++ and embedded systems expertise, focusing on Kalman filters and state estimation techniques throughout development.