February 2026 performance summary for mcgill-robotics/auv-embedded-2025: Delivered safety- and reliability-focused improvements to thruster control and resolved a stale-command bug. Implemented connection-state gating for thruster updates to prevent old commands after disconnection and performed a minor cleanup to destroy_entities ordering for clarity and performance. Initiated a C++ formatting effort on power_main.cpp to improve readability (subsequently reverted to preserve established conventions), demonstrating disciplined change management. Business impact: reduced risk of unsafe propulsion events during disconnects, improved mission safety, and strengthened maintainability for future iterations. Technical highlights include embedded C++ control logic, safety-critical software practices, and structured change management with clear commit history.