Charlie Burge contributed to the peterbarker/ardupilot repository by addressing a bug in CAN range finder sensor-type reporting, focusing on accurate classification between RADAR and LASER devices. Working with C++ in the context of embedded systems and device drivers, Charlie isolated and corrected the _get_mav_distance_sensor_type method to ensure consistent and reliable data reporting across all range finder backends. This targeted fix improved data integrity and reduced operator confusion during missions dependent on CAN range finder data. The work demonstrated a careful, low-risk approach, resulting in a maintainable solution that stabilized the data path without introducing unnecessary complexity or side effects.