Contributed to the ArduPilot and peterbarker/ardupilot repositories by developing hardware integration features focused on expanding board and sensor support. Over two months, implemented new hardware definitions and reserved IDs to streamline onboarding for ZeroOneX9, ZeroOneA6i, and ZeroOneX6-ODID boards, using C and embedded systems expertise. Enhanced sensor management by adding SPL06 and BMP581 barometer support, and configured bootloader and OpenDroneID parameters to enforce hardware compliance within the ChibiOS HAL. The work emphasized robust configuration management and hardware abstraction, reducing firmware-hardware mismatch risks and enabling automatic identification of compatible devices for improved reliability in embedded firmware deployments.