Worked on the ArduPilot/ardupilot repository to enhance simulation accuracy within the SITL environment by addressing a critical issue in servo angle filtering. Focused on C++ development and simulation, the work involved implementing a fix that assigns a default trim value of 1500 when a servo is disabled, ensuring that filtering logic operates correctly and preventing simulation errors. This solution improved the fidelity of servo behavior during simulation runs. The approach was validated through unit testing, demonstrating attention to robust software practices. The contribution reflects a targeted, in-depth effort to resolve a nuanced bug rather than broad feature development during the period.