Amar Burgman focused on improving safety and control in the ArduPilot/ardupilot repository by addressing a critical bug affecting submersible throttle behavior during manual and disarmed mode transitions. Using C++ and leveraging expertise in embedded systems and robotics, Amar adjusted the neutral throttle value from 0.0 to 0.5, stabilizing output when the system was disarmed. This targeted change reduced drift and improved predictability in safety-critical control paths, directly supporting safer submersible operations. The work demonstrated a deep understanding of real-time control systems and careful attention to operational reliability, though it was limited in scope to a single, high-impact bug fix.