Worked on enhancing height estimation reliability in the PX4/PX4-Autopilot repository by addressing a bug in the external vision rotation logic within the height fusion pathway. Focused on ensuring that external vision samples were rotated only when the position frame was set to LOCAL_FRAME_FRD, which resolved issues with incorrect altitude estimation in scenarios where rotation was previously applied inappropriately. Utilized C++ programming and algorithm development skills to implement this targeted fix, demonstrating a strong understanding of embedded systems and coordinate frame integration. The work improved the accuracy of altitude calculations in external-vision scenarios, contributing to more robust sensor fusion in PX4.