Worked on the ArduPilot/ardupilot repository to enhance pose estimation and odometry accuracy in GCS_MAVLink workflows. Focused on integrating covariance data from motion capture systems into pose estimation routines, which improved the precision of position and angular error calculations. Addressed a bug in odometry error computation by replacing a cubic root with a square root, resulting in more reliable and stable navigation metrics. Utilized C++ programming skills within an embedded systems and robotics context, ensuring code quality and traceability through clear commit messages. These updates provided a stronger foundation for future data-fusion features and improved operator confidence in MAV operations.