During March 2025, Jacob Hersh developed and shipped reliability-focused improvements to the Terrapin-Rocket-Team/Airbrake repository, targeting Kalman filter state estimation for embedded flight systems. He addressed instability by implementing NaN handling in the Kalman filter, preserving previous state estimates and resetting values when necessary to maintain robust state estimation. Jacob refactored the state update logic to enhance memory management and system reliability, and enabled precise airbrake deployment angle control during the DEPLOY stage, improving both testability and operational safety. His work, using C++ and embedded systems expertise, also streamlined integration by updating dependencies and removing brittle version-tag constraints.