Worked on the ArduPilot/ardupilot repository to address a critical issue affecting sensor data integrity in embedded systems. Focused on correcting the magnetic field unit conversion in the HIGHRES_IMU data path, the developer modified the C++ code to divide by 1000 rather than multiply, ensuring that magnetic field readings were reported in realistic gauss values. This adjustment improved the accuracy of attitude and navigation calculations, reducing the risk of mission-impacting errors. The fix was validated through both SITL simulation and hardware testing on the Orange Cube, demonstrating effective sensor integration and a methodical approach to embedded C++ development.