Worked on safety-critical enhancements for the ArduPilot project, focusing on embedded systems and C++ programming. Delivered a pre-arm initialization safety check to ensure the system is fully initialized before arming, reducing operational risks and improving mission reliability. Addressed robustness in CAN bus communication by implementing input validation to reject negative indices and adding safeguards to prevent unregister errors, thereby enhancing fault tolerance and system stability. All changes were contributed directly to the ardupilot repository, demonstrating a methodical approach to improving both safety and reliability in flight control software through targeted feature development and careful bug resolution using C++ and embedded systems expertise.