In April 2025, Dawid developed yaw smoothing enhancements for autonomous flight in the PX4/PX4-Autopilot repository, focusing on flight control software and embedded systems using C++. He replaced the previous yaw rate limiting approach with a heading smoothing filter that respects acceleration limits, resulting in more stable yaw behavior during complex maneuvers. This technical solution addressed the challenge of maintaining flight stability and reliability across diverse mission profiles, reducing the need for operator intervention. Dawid’s work demonstrated a deep understanding of control systems, integrating acceleration-aware control logic and improving code maintainability within the autopilot, reflecting thoughtful engineering and domain expertise.