Joy worked on performance optimization for the utat-ss/finch-flight-software repository, focusing on improving the compute_pred_cent_local_diff function. Using C programming and performance optimization techniques, Joy introduced a local cache for diffs, which eliminated redundant calls to get_local_diffs and reduced unnecessary CPU overhead. This targeted change improved the efficiency and deterministic runtime behavior of real-time flight computations by ensuring that repeated computations were avoided. The work was scoped to a single feature and did not involve bug fixes, reflecting a focused engineering effort. Overall, Joy’s contribution demonstrated depth in optimizing compute paths within a real-time C codebase.