Worked on the PX4/PX4-Autopilot repository to enhance system throughput and reliability for autonomous operations. Focused on embedded and real-time systems using C++, the developer increased the ActionRequest orb queue length to allow the system to handle a higher volume of messages without bottlenecks under peak load. This targeted feature improved message handling efficiency, directly addressing throughput limitations in high-demand scenarios. The change was validated end-to-end to ensure robust performance and reliability. Throughout the month, the work demonstrated a methodical approach to system-level optimization, emphasizing measurable outcomes and careful validation within the context of real-time embedded software development.