Worked on the PX4/PX4-Autopilot repository to enhance sensor integration by upgrading the magnetometer from the IST8310 to the QMC5883P on the ap-h743r1 board, aiming to improve data reliability for embedded flight systems. The approach involved adjusting DMA allocations to optimize sensor data throughput and minimize interrupt contention, directly addressing hardware integration challenges. Documentation was updated in Markdown to reflect both the hardware change and the new DMA configuration, ensuring clarity for future maintainers. All changes were linked to a specific pull request for traceability. The work leveraged skills in embedded systems, firmware development, and sensor integration using C.