Worked on enhancing GPS accuracy for autonomous systems by tuning EKF2 parameters within the PX4/PX4-Autopilot repository. Focused on updating the minimum EPH and EPV values in the EKF2 sensor fusion configuration, the developer improved the reliability of GPS data integration, which is critical for robust navigation in embedded systems. The technical approach involved a traceable, fix-style commit using YAML to ensure clear rollback capability and maintain workflow integrity. This targeted parameter tuning reduced localization errors in challenging environments, contributing to safer and more stable autonomous operations while demonstrating a methodical approach to embedded system configuration and parameter management.