Worked on enhancing RTL Safe Point Navigation within the PX4/PX4-Autopilot repository, focusing on precise navigation in global frames. Delivered support for MAV_FRAME_GLOBAL_INT and MAV_FRAME_GLOBAL_RELATIVE_ALT_INT, enabling more accurate safe point handling during return-to-launch operations. Refactored the RTL frame logic to consolidate duplicate cases, which improved code maintainability and reduced the risk of future regressions. The work emphasized alignment with MAVLink frame semantics and was co-authored in collaboration with another contributor. Utilized C++ programming, embedded systems expertise, and navigation algorithms to extend feature capabilities, ultimately improving navigational accuracy, safety margins, and long-term maintainability of frame-related logic.