Raymond Palacio enhanced drone communication reliability in the YeachanOkh/BANSHEE-Mechatronics-SPR24 repository by refactoring the ESP-NOW protocol implementation. He restructured peer connections to consistently use the master MAC address, introduced a data receive callback for improved message handling, and updated button press logic to ensure targeted communication. Working primarily in C++ and leveraging embedded systems and IoT expertise, Raymond also addressed code quality by correcting syntax issues and cleaning up formatting, reducing future build risks. His work established a more maintainable codebase, improved traceability of changes, and provided a stable foundation for future features, reflecting thoughtful, maintenance-oriented engineering.