Worked on the PX4-Autopilot repository to enhance system reliability in embedded and real-time environments using C++. Addressed a critical issue in the arming check process by increasing the ArmingCheckReply queue size, ensuring that responses from up to eight external modes are handled without overwriting. Introduced a static assertion to maintain alignment between queue length and registration limits, preventing future configuration drift. This fix eliminated false unresponsive errors during multi-mode arming, improving startup safety and predictability. The work demonstrated careful attention to inter-module communication and robust queue management, contributing to safer and more reliable operation in complex embedded systems.