Worked on the PX4/PX4-Autopilot repository to enhance rotary-wing altitude handling by addressing a specific bug in the navigator module. Focused on embedded systems and C++ development, the work involved removing an unnecessary altitude check during non-takeoff setpoints, which previously caused friction in the DO_CHANGE_ALTITUDE command flow. This targeted fix improved the reliability and predictability of altitude command processing for autonomous vehicles, particularly in auto-mode scenarios. The change streamlined the codebase, making it easier to test and maintain, and was delivered through collaborative development practices with clear, auditable commits that aligned system behavior with intended operational requirements.