Worked on the ArduPilot/ardupilot repository to rearchitect loiter parameter defaults for traditional helicopters, focusing on safer and more maintainable configuration. Used C++ and configuration management skills to move helicopter-specific defaults out of Parameters.cpp into dedicated configuration areas, enabling per-vehicle tuning and improved navigation performance. Addressed related cleanup by removing ILMI parameter defaults from global settings and clarifying RC_OPTIONS handling to reduce future conflicts. The work enhanced customization and operational clarity for embedded systems in aerospace applications, resolving rebase issues during migration and simplifying ongoing maintenance. No bugs were fixed during this period, with efforts concentrated on feature development and refactoring.