Worked on the PX4/PX4-Autopilot repository to address a critical issue in the EKF2 external-position heading correction path, focusing on improving heading accuracy and robustness for autonomous flight. Applied expertise in Kalman filters, algorithm development, and embedded systems using C++ to adjust the sequencing within the EKF2 Run() function. This change ensured the heading_observable flag was set before external-position fusion, preventing stale state flags from inhibiting heading corrections. The solution aligned with established correction strategies and resolved a long-standing issue, resulting in more reliable external position integration and enhanced heading stability for systems relying on external position estimates.