Worked on the Auterion/mavlink repository to enhance stability and maintainability by delivering targeted improvements in embedded systems and protocol development using C. Implemented deterministic message ordering based on message ID, which improved the consistency of message sequencing and facilitated more effective debugging and data analysis. Refactored the parameter transaction protocol to centralize Auterion-specific handling, streamlining operations and simplifying ongoing maintenance. Both changes were carefully localized to the repository with clear, traceable commit messages, ensuring ease of review and future updates. The work focused on reliability and maintainability, addressing both a feature enhancement and a bug fix within the project.