Matias Soini focused on targeted maintenance and reliability improvements in the tiiuae/px4-firmware repository over a two-month period. He streamlined indoor configuration files by removing unused LED definitions and obsolete telemetry parameters, reducing clutter and minimizing the risk of misconfiguration. Using configuration management and shell scripting, Matias enhanced maintainability and onboarding by clarifying the configuration state. He also addressed altitude estimation reliability by disabling GPS height data fusion in specific airframe configurations, mitigating GPS-induced errors in EKF2 altitude estimates. His disciplined approach emphasized version-control hygiene and precise parameter tuning, resulting in a leaner, more robust firmware configuration without introducing new features.