Developed cross-mode Attitude_target MAVLink support for the AntennaTracker module in the peterbarker/ardupilot repository, enabling the system to process attitude setpoints using both quaternion and rate information across guided, scan, and auto modes. This enhancement improved the precision and reliability of autonomous orientation control, reducing the need for manual tuning. The work was delivered as a single, well-documented commit, ensuring clear traceability and maintainability within the codebase. Leveraging expertise in C++, embedded systems, and control systems, the developer focused on robust integration of the MAVLink protocol to streamline attitude management for robotics applications in real-world scenarios.