Worked on enhancing UAVCAN data handling reliability in the tudelft/paparazzi repository by addressing critical issues in message buffering and payload length management. Focused on correcting circular buffer length wrapping and refining payload length calculations to prevent overflow and data loss, thereby improving stability in real-time embedded systems. Employed C and C++ for low-level buffer management, integrating targeted tests to verify robustness and ensure data integrity. Collaborated closely with other contributors to deliver code quality improvements. The work resulted in more reliable UAVCAN message processing, with precise buffer sizing and reduced risk of overflow, supporting safer and more predictable system behavior.