Over a two-month period, contributed to PX4/PX4-Autopilot by consolidating airframe configurations and introducing namespace-scoped DDS topics, which improved build reliability and deployment isolation for embedded firmware workflows. Leveraging C, Python, and configuration management skills, updated build scripts and firmware upload processes to reduce misconfigurations and streamline upgrades. In AVSLab/basilisk, addressed dependency installation issues and enhanced the ForceTorqueThrForceMapping module by refining matrix operations and ensuring robust reset behavior. Refactored unit tests using Python and Numpy to improve validation and maintainability of control models, directly supporting simulation accuracy and reducing onboarding friction for new contributors through improved documentation and testing.