Worked on the ArduPilot/ardupilot repository to enhance the ARK_CANNODE hardware definition, focusing on embedded systems and C programming. Delivered a feature that introduced compass probing support and integrated ARK_DAN, addressing sensor readiness and improving interoperability within the hardware ecosystem. The update also included a fix for the default GPS port configuration, reducing the risk of deployment misconfigurations and streamlining setup processes. All changes were implemented in a single, traceable commit, emphasizing reliability and maintainability. This work improved hardware definition reliability and setup efficiency for ArduPilot on ARK hardware, leveraging expertise in C and hardware definition practices.