Amar Burg worked on the ArduPilot/ardupilot repository, focusing on stabilizing throttle output for submersible vehicles during manual and disarmed mode transitions. By adjusting the neutral throttle value from 0.0 to 0.5 in the control logic, Amar addressed a safety-critical bug that previously caused unpredictable drift when the system was disarmed. This targeted fix, implemented in C++ within an embedded systems context, improved both stability and operator confidence during transitions. The work demonstrated a precise understanding of robotics control paths and contributed to safer submersible operations, reflecting depth in diagnosing and resolving nuanced issues in real-time embedded environments.