Worked on performance optimization for the utat-ss/finch-flight-software repository, focusing on improving the compute_pred_cent_local_diff function. Addressed redundant computations by introducing a local cache for diffs, which eliminated repeated calls to get_local_diffs and reduced CPU overhead during real-time flight calculations. The solution involved implementing a local variable to store intermediate results, ensuring more efficient and deterministic runtime behavior. Utilized C programming and performance optimization techniques to deliver a focused, low-risk change that enhanced compute path throughput. The work demonstrated attention to efficient resource usage and careful modification of core logic without introducing new bugs or altering existing functionality.