Worked on enhancing autonomous flight stability in the PX4/PX4-Autopilot repository by developing a new yaw smoothing mechanism for flight control software. Replaced the previous yaw rate limiting approach with a heading smoothing filter that incorporates acceleration limits, resulting in more stable yaw behavior during complex maneuvers. This control systems improvement reduces the need for operator intervention and increases mission reliability across diverse flight conditions. The work was implemented in C++ and focused on maintainable embedded systems code, demonstrating a thoughtful integration of acceleration-aware control logic to support robust autonomous operations and improve overall safety in the autopilot’s flight envelope.