Stefano Colli developed a Gimbal Mission Item Delay Mechanism for the PX4/PX4-Autopilot repository, introducing an optional delay that ensures the gimbal reaches its commanded attitude before the mission advances. This feature, implemented in C++ and integrated with the Navigator module, addressed the need for precise alignment during aerial photography and surveillance missions. Stefano applied embedded systems and flight control software expertise to design, implement, and document the end-to-end solution. The work improved mission reliability and image quality by reducing the risk of misalignment, demonstrating a focused approach to avionics mission planning and feature-flag driven development within robotics applications.