Worked on stabilizing the messaging layer within the PX4-Autopilot repository, focusing on the Zenoh integration for embedded systems. Addressed a bug where the Zenoh module previously used a generic base type for topic configuration, which could lead to mismatches in publish and subscribe operations. By updating the module to reference the actual uORB topic names, ensured that message routing aligns precisely with system architecture requirements. This targeted fix, implemented in C and C++, improved the reliability and correctness of the publish/subscribe mechanism. The work demonstrated attention to detail in embedded system communication and contributed to overall system stability and maintainability.