Worked on enhancing the Bebop2 airframe configuration within the tudelft/paparazzi repository, focusing on expanding guidance and stabilization capabilities for drone deployments. Leveraged C programming and embedded systems expertise to introduce new airframe parameters and modules, updating both XML configuration and header files to support a more robust guidance suite. This work established a stronger foundation for flight control stability and enabled easier parameter tuning for future development. The enhancements improved the drone’s performance by allowing more flexible configuration management, ensuring that future tuning and feature additions could be integrated efficiently within the existing codebase and configuration structure.